A friction model with velocity, temperature and load torque effects for collaborative industrial robot joints. - Liming Gao; Jianjun Yuan; Zhedong Han; Shuai Wang; Ning Wang 028 (IROS, 2017)

External Force Estimation Method for Robotic Manipulator Based on Double Encoders of Joints. - Zhedong Han; Jianjun Yuan; Liming Gao (ROBIO, 2018)

Current-Based Direct Teaching for Industrial Manipulator. - Jiaolong Du; Jianjun Yuan; Zhedong Han; Yingjie Qian (ROBIO, 2019)