A Humanoid Two-Arm System for Dexterous Manipulation. - Christian Ott 001; Oliver Eiberger; Werner Friedl; Berthold Bäuml; Ulrich Hillenbrand; Christoph Borst 001; Alin Albu-Schäffer; Bernhard Brunner; Heiko Hirschmüller; Simon Kielhöfer; Rainer Konietschke; Michael Suppa; et al. (Humanoids, 2006)

Der Einfluss der Nullung (TN-C- und TN-S-Systeme) auf niederfrequente Magnetfelder in Gebäuden. - Ernst Schmautzer; Lothar Fickert; Johann Frei; Werner Friedl; Alexander Gaun; Georg Rechberger (Elektrotech. Informationstechnik, 2006)

Personensicherheit in autonomen Niederspannungsinseln. - Lothar Fickert; Ernst Schmautzer; Maria Aigner; Werner Friedl (Elektrotech. Informationstechnik, 2009)

Bidirectional antagonistic variable stiffness actuation: Analysis, design & Implementation. - Florian Petit; Maxime Chalon; Werner Friedl; Markus Grebenstein; Alin Albu-Schäffer; Gerd Hirzinger (ICRA, 2010)

DLRs zweihändiger Humanoide Justin: Systementwurf, Integration und Regelung (DLR's Two-Handed Humanoid Justin: System Design, Integration and Control). - Thomas Wimböck; Christoph Borst 001; Alin Albu-Schäffer; Christian Ott 001; Florian Schmidt 001; Matthias Fuchs; Werner Friedl; Oliver Eiberger; Andreas Baumann; Alexander Beyer; Gerd Hirzinger (Autom., 2010)

Catching flying balls and preparing coffee: Humanoid Rollin'Justin performs dynamic and sensitive tasks. - Berthold Bäuml; Florian Schmidt 001; Thomas Wimböck; Oliver Birbach; Alexander Dietrich; Matthias Fuchs; Werner Friedl; Udo Frese; Christoph Borst 001; Markus Grebenstein; Oliver Eiberger; Gerd Hirzinger (ICRA, 2011)

The DLR hand arm system. - Markus Grebenstein; Alin Albu-Schäffer; Thomas Bahls; Maxime Chalon; Oliver Eiberger; Werner Friedl; Robin Gruber; Sami Haddadin; Ulrich Hagn; Robert Haslinger; Hannes Höppner; Stefan Jörg; et al. (ICRA, 2011)

Impedance control of a non-linearly coupled tendon driven thumb. - Maxime Chalon; Werner Friedl; Jens Reinecke; Thomas Wimböck; Alin Albu-Schäffer (IROS, 2011)

FAS A flexible Antagonistic spring element for a high performance over actuated hand. - Werner Friedl; Maxime Chalon; Jens Reinecke; Markus Grebenstein (IROS, 2011)

Wrist and forearm rotation of the DLR hand arm system: Mechanical design, shape analysis and experimental validation. - Werner Friedl; Hannes Höppner; Florian Petit; Gerd Hirzinger (IROS, 2011)

Intrinsically elastic robots: The key to human like performance. - Sami Haddadin; Felix Huber; Kai Krieger; Roman Weitschat; Alin Albu-Schäffer; Sebastian Wolf 001; Werner Friedl; Markus Grebenstein; Florian Petit; Jens Reinecke; Roberto Lampariello (IROS, 2012)

Dynamic Trajectory Generation for Serial Elastic Actuated Robots. - Florian Petit; Dominic Lakatos; Werner Friedl; Alin Albu-Schäffer (SyRoCo, 2012)

The hand of the DLR Hand Arm System: Designed for interaction. - Markus Grebenstein; Maxime Chalon; Werner Friedl; Sami Haddadin; Thomas Wimböck; Gerd Hirzinger; Roland Siegwart (Int. J. Robotics Res., 2012)

Variable impedance actuators: A review. - Bram Vanderborght; Alin Albu-Schäffer; Antonio Bicchi; Etienne Burdet; Darwin G. Caldwell; Raffaella Carloni; Manuel G. Catalano; Oliver Eiberger; Werner Friedl; Ganesh Ganesh; Manolo Garabini; Markus Grebenstein; et al. (Robotics Auton. Syst., 2013)

Agile Justin: An upgraded member of DLR's family of lightweight and torque controlled humanoids. - Berthold Bäuml; Tobias Hammer; René Wagner; Oliver Birbach; Thomas Gumpert; F. Zhi; Ulrich Hillenbrand; S. Beer; Werner Friedl; Jörg Butterfaß (ICRA, 2014)

Guiding effects and friction modeling for tendon driven systems. - Jens Reinecke; Maxime Chalon; Werner Friedl; Markus Grebenstein (ICRA, 2014)

"FRCEF: The new friction reduced and coupling enhanced finger for the Awiwi hand". - Werner Friedl; Maxime Chalon; Jens Reinecke; Markus Grebenstein (Humanoids, 2015)

Targeted jumping of compliantly actuated hoppers based on discrete planning and switching control. - Dominic Lakatos; Daniel Seidel; Werner Friedl; Alin Albu-Schäffer (IROS, 2015)

Variable stiffness actuators: The user's point of view. - Giorgio Grioli; Sebastian Wolf 001; Manolo Garabini; Manuel G. Catalano; Etienne Burdet; Darwin G. Caldwell; Raffaella Carloni; Werner Friedl; Markus Grebenstein; Matteo Laffranchi; Dirk Lefeber; Stefano Stramigioli; et al. (Int. J. Robotics Res., 2015)

The LRU Rover for Autonomous Planetary Exploration and Its Success in the SpaceBotCamp Challenge. - Martin J. Schuster; Christoph Brand; Sebastian G. Brunner; Peter Lehner; Josef Reill; Sebastian Riedel 002; Tim Bodenmüller; Kristin Bussmann; Stefan Büttner; Andreas Dömel; Werner Friedl; Iris Lynne Grixa; et al. (ICARSC, 2016)

Eigenmodes of Nonlinear Dynamics: Definition, Existence, and Embodiment into Legged Robots With Elastic Elements. - Dominic Lakatos; Werner Friedl; Alin Albu-Schäffer (IEEE Robotics Autom. Lett., 2017)

A Benchmarking Framework for Systematic Evaluation of Compliant Under-Actuated Soft End Effectors in an Industrial Context. - Panagiotis Sotiropoulos; Máximo A. Roa; Murilo F. Martins; Werner Friedl; Hussein Mnyusiwalla; Pavlos Triantafyllou; Graham E. Deacon (Humanoids, 2018)

CLASH: Compliant Low Cost Antagonistic Servo Hands. - Werner Friedl; Hannes Höppner; Florian Schmidt 001; Máximo A. Roa; Markus Grebenstein (IROS, 2018)

Human-Robotic Variable-Stiffness Grasps of Small-Fruit Containers Are Successful Even Under Severely Impaired Sensory Feedback. - Mark Haas; Werner Friedl; Georg Stillfried; Hannes Höppner (Frontiers Neurorobotics, 2018)

CLASH - A Compliant Sensorized Hand for Handling Delicate Objects. - Werner Friedl; Máximo A. Roa (Frontiers Robotics AI, 2019)

Towards Autonomous Planetary Exploration - The Lightweight Rover Unit (LRU), its Success in the SpaceBotCamp Challenge, and Beyond. - Martin J. Schuster; Sebastian G. Brunner; Kristin Bussmann; Stefan Büttner; Andreas Dömel; Matthias Hellerer; Hannah Lehner; Peter Lehner; Oliver Porges; Josef Reill; Sebastian Riedel 002; Mallikarjuna Vayugundla; et al. (J. Intell. Robotic Syst., 2019)

Environment-Aware Grasp Strategy Planning in Clutter for a Variable Stiffness Hand. - Ashok M. Sundaram; Werner Friedl; Máximo A. Roa (IROS, 2020)

CLASH WRIST - A hardware to increase the capability of CLASH fruit gripper to use environment constraints exploration. - Werner Friedl; Máximo A. Roa (CoRR, 2020)

A Bin-Picking Benchmark for Systematic Evaluation of Robotic Pick-and-Place Systems. - Hussein Mnyusiwalla; Pavlos Triantafyllou; Panagiotis Sotiropoulos; Máximo A. Roa; Werner Friedl; Ashok M. Sundaram; Duncan Russell; Graham E. Deacon (IEEE Robotics Autom. Lett., 2020)

Benchmarking Hand and Grasp Resilience to Dynamic Loads. - Francesca Negrello; Werner Friedl; Giorgio Grioli; Manolo Garabini; Oliver Brock; Antonio Bicchi; Máximo A. Roa; Manuel G. Catalano (IEEE Robotics Autom. Lett., 2020)

Unknown Object Segmentation from Stereo Images. - Maximilian Durner; Wout Boerdijk; Martin Sundermeyer; Werner Friedl; Zoltán-Csaba Márton; Rudolph Triebel (IROS, 2021)

Experimental Evaluation of Tactile Sensors for Compliant Robotic Hands. - Werner Friedl; Máximo A. Roa (Frontiers Robotics AI, 2021)

Task-Oriented Stiffness Setting for a Variable Stiffness Hand. - Ana Elvira H. Martin; Ashok M. Sundaram; Werner Friedl; Virginia Ruiz Garate; Máximo A. Roa (ICRA, 2023)

Multimodal Grasp Planner for Hybrid Grippers in Cluttered Scenes. - Salvatore D'Avella; Ashok M. Sundaram; Werner Friedl; Paolo Tripicchio; Máximo A. Roa (IEEE Robotics Autom. Lett., 2023)

Robotic Tight Packaging Using a Hybrid Gripper with Variable Stiffness. - Michele Moroni; Ana Elvira H. Martin; Leonard Klüpfel; Ashok M. Sundaram; Werner Friedl; Francesco Braghin; Máximo A. Roa (TAROS (1), 2024)

Co-Designing Tools and Control Policies for Robust Manipulation. - Yifei Dong; Shaohang Han; Xianyi Cheng; Werner Friedl; Rafael I. Cabral Muchacho; Máximo A. Roa; Jana Tumova; Florian T. Pokorny (CoRR, 2024)

State- and context-dependent robotic manipulation and grasping via uncertainty-aware imitation learning. - Tim R. Winter; Ashok M. Sundaram; Werner Friedl; Máximo A. Roa; Freek Stulp; João Silvério (CoRR, 2024)

Evaluation of different robotic grippers for simultaneous multi-object grasping. - Werner Friedl (Frontiers Robotics AI, 2024)

Virtual elasto-plastic robot compliance to active environments. - Michael Panzirsch; Harsimran Singh; Xuwei Wu; Maged Iskandar; Anne Köpken; Rute Luz; Nesrine Batti; Florian Samuel Lay; Ajithkumar Narayanan Manaparampil; Luisa Mayershofer; Xiaozhou Luo; Robert Burger; et al. (Sci. Robotics, 2025)

Door-to-Door Parcel Delivery From Supply Point to User's Home With Heterogeneous Robot Team: The euROBIN First-Year Robotics Hackathon. - Alejandro Suárez; Rainer Kartmann; Daniel Leidner; Luca Rossini; Johann Huber; Carlos Azevedo; Quentin Rouxel; Marko Bjelonic; Antonio González-Morgado; Christian R. G. Dreher; Peter Schmaus; Arturo Laurenzi; et al. (IEEE Robotics Autom. Mag., 2025)