WorkPartner - centaur like service robot. - Sami Ylönen; Aarne Halme (IROS, 2002)

Koordination von Lokomotiven und Manipulatorbewegung des Roboters WorkPartner. - Tobias Luksch; Sami Ylönen; Aarne Halme (AMS, 2003)

Performing Skilled Work with an Interactively Operated Service Robot. - Aarne Halme; Jouni Sievilä; Ilkka Kauppi; Sami Ylönen (FSR, 2003)

WorkPartner. - Aarne Halme; Ilkka Leppänen; Jussi Suomela; Sami Ylönen; Ilkka Kettunen (Int. J. Robotics Res., 2003)

Biomimicing motion control of the WorkPartner robot. - Aarne Halme; Tobias Luksch; Sami Ylönen (Ind. Robot, 2004)