Holistic Modeling of Trajectories for Cylinder-Shaped Objects. - Thorsten Frank; Christian Schroedter; Uwe Janoske (EMS, 2010)

A bioinspired 2-DOF throwing robot. - Heinz Frank; Thorsten Frank; Anton Mittnacht; Christian Sichau (AFRICON, 2011)

Automated throwing and capturing of cylinder-shaped objects. - Thorsten Frank; Uwe Janoske; Anton Mittnacht; Christian Schroedter (ICRA, 2012)