MiReLa: a musical robot. - Urko Esnaola; Tim Smithers (CIRA, 2005)

Whistling to Machines. - Urko Esnaola; Tim Smithers (Ambient Intelligence in Everyday, 2006)

A Navigation System for a High-Speed Professional Cleaning Robot. - Gorka Azkune; Mikel Astiz; Urko Esnaola; Unai Antero; Jose Vicente Sogorb; Antonio Alonso (TAROS, 2011)

State Machine Based Architecture to Increase Flexibility of Dual-Arm Robot Programming. - Héctor Herrero; Jose Luis Outón; Urko Esnaola; Damien Sallé; Karmele López de Ipiña (IWINAC (2), 2015)

Development and evaluation of a Skill Based Architecture for applied industrial robotics. - Héctor Herrero; Jose Luis Outón; Urko Esnaola; Damien Sallé; Karmele López de Ipiña (IWOBI, 2015)

A case study of automated dual-arm manipulation in industrial applications. - Yoann Solana; Héctor Herrero; Alvaro Rubio García; Sergio Martínez Calvo; Urko Esnaola; Damien Sallé; Juan Cortés (ETFA, 2019)

Innovative Mobile Manipulator Solution for Modern Flexible Manufacturing Processes. - Jose Luis Outón; Ivan Villaverde; Héctor Herrero; Urko Esnaola; Basilio Sierra (Sensors, 2019)