Sensor-aided intelligent robot control. - Werner E. Friedrich (ANNES, 1993)

Knowledge Based Control in the Processing of Highly Varying Products. - Denis E. Malone; Werner E. Friedrich; Natalie R. Spooner; Patrick P. K. Lim (ICRA, 1994)

Increased Reliability by Effective Use of Sensor Information: A Shop Floor Application of Sensor-aided Robotic Handling. - Werner E. Friedrich (ANNES, 1995)

Behaviour-Based Control Applied to Robotic Handling of Variable Objects. - Werner E. Friedrich; Patrick P. K. Lim (ICONIP (2), 1997)

Sensory Gripping System for Variable Products. - Werner E. Friedrich; Patrick P. K. Lim; Howard Nicholls (ICRA, 2000)