| 2005 | IROS | Integration of planning and execution in force controlled compliant motion. | Wim Meeussen, Joris De Schutter, Herman Bruyninckx, Jing Xiao, Ernesto Staffetti |
| 2005 | ICRA | A New Formalism to Characterize Contact States Involving Articulated Polyhedral Objects. | Ernesto Staffetti, Wim Meeussen, Jing Xiao |
| 2004 | ICRA | On the Representation of Contact States between Curved Objects. | Qi Luo, Ernesto Staffetti, Jing Xiao |
| 2004 | ICRA | Automatic Verification of Contact States Taking Into Account Manipulator Constraints. | Wim Meeussen, Jing Xiao, Joris De Schutter, Herman Bruyninckx, Ernesto Staffetti |
| 2003 | IBPRIA | Oriented Matroids for Shape Representation and Indexing. | Ernesto Staffetti, Antoni Grau, Francesc Serratosa, Alberto Sanfeliu |
| 2002 | ICRA | Analytic Formulation of the Kinestatics of Robot Manipulators with Arbitrary Topology. | Ernesto Staffetti, Federico Thomas |
| 2000 | IROS | Analysis of rigid body interactions for compliant motion tasks using the Grassmann-Cayley algebra. | Ernesto Staffetti, Federico Thomas |
| 1999 | ICRA | A Simple Characterization of the Infinitesimal Motions Separating General Polyhedra in Contact. | Ernesto Staffetti, Llus Ros, Federico Thomas |
| 1996 | ICPR | A recursive updating rule for efficient computation of linear moments in sliding-window applications. | Judit Martnez, Ernesto Staffetti, Federico Thomas |