Forward-model-based control system for robot manipulators. - Rafael Osypiuk; Bernd Finkemeyer; Friedrich M. Wahl (Robotica, 2004)

Multi-loop model-based control structure for robot manipulators. - Rafael Osypiuk; Bernd Finkemeyer; Friedrich M. Wahl (Robotica, 2005)

A Two-loop Implicit Force/Position Control Structure, based on a Simple Linear Model: Theory and Experiment. - Rafael Osypiuk; Torsten Kröger; Bernd Finkemeyer; Friedrich M. Wahl (ICRA, 2006)

Hybrid model-based force/position control: theory and experimental verification. - Rafael Osypiuk; Bernd Finkemeyer (Robotica, 2006)

Simple two degree of freedom structures and their properties. - Rafael Osypiuk; Bernd Finkemeyer; Stanislaw Skoczowski (Robotica, 2006)

Multi-loop model based parallel control systems. - Rafal Osypiuk (IROS, 2010)

A three-loop model-following control structure: theory and implementation. - Rafael Osypiuk; Torsten Kröger (Int. J. Control, 2010)

Parallel Stiffness Actuators with Six Degrees of Freedom for Efficient Force/Torque Control Applications. - Rafal Osypiuk; Torsten Kröger (Robotic Systems for Handling and Assembly, 2011)

Evaluating the ellipsoidal collision avoidance region for the future DAA systems. - Mateusz Spychala; Rafal Osypiuk (MMAR, 2017)