A sensitivity approach to optimal spline robot trajectories

Optimization of Complex Robot Applications under Real Physical Limitations

International Journal of Robotics Research

Evaluation of generalized force derivatives by means ofa recursive Newton-Euler approach

IEEE Transactions on Robotics

Brief paper: Fast computation of smoothing splines subject to equality constraints

Automatica (Journal of IFAC)

Trajectory generation and control for a high-DOF articulated robot with dynamic constraints

KI'10 Proceedings of the 33rd annual German conference on Advances in artificial intelligence

Brief Fast spline smoothing via spectral factorization concepts

Automatica (Journal of IFAC)

Iterative learning control in optimal tracking problems with specified data points

Automatica (Journal of IFAC)