| 2017 | WACV | Probabilistic Surface Inference for Industrial Inspection Planning. | Mahsa Mohammadikaji, Stephan Bergmann, Stephan Irgenfried, Jrgen Beyerer, Carsten Dachsbacher, Heinz Wrn |
| 2016 | FUSION | Towards 1-component Bragg-grating based shape sensing. | Hendrikje Pauer, Manuel Rosenberger, Maiko Girschikofsky, Ralf Hellmann, Wilderich Tuschmann, Heinz Wrn |
| 2016 | GI | Semantic Object-Oriented Programming (SOOP). | Florian Weber, Andreas Bihlmaier, Heinz Wrn |
| 2015 | ETFA | CVVisual: Interactive visual debugging of computer vision programs. | Andreas Bihlmaier, Heinz Wrn |
| 2015 | ETFA | Microman - autonomous omni-directional microrobot-system for biotechnological and miniaturized automation. | Julien Mintenbeck, Michael Uhl, Ramon Estaa, Heinz Wrn |
| 2015 | HCI | How to Tune a Random Forest for Real-time Segmentation in Safe Human-Robot Collaboration? | Vivek Sharma, Frank Dittrich, Sule Yildirim Yayilgan, Ali Shariq Imran, Heinz Wrn |
| 2015 | ICINCO | Continuous Pre-Calculation of Human Tracking with Time-delayed Ground-truth - A Hybrid Approach to Minimizing Tracking Latency by Combination of Different 3D Cameras. | Philip Nicolai, Jrg Raczkowsky, Heinz Wrn |
| 2015 | ICINCO | Model-Free (Human) Tracking Based on Ground Truth with Time Delay: A 3D Camera Based Approach for Minimizing Tracking Latency and Increasing Tracking Quality. | Philip Nicolai, Jrg Raczkowsky, Heinz Wrn |
| 2015 | ICRA | Online motion planning for failure recovery of modular robotic systems. | Vojtech Vonsek, Sergej Neumann, David Oertel, Heinz Wrn |
| 2014 | GI | Increasing ROS Reliability and Safety through Advanced Introspection Capabilities. | Andreas Bihlmaier, Heinz Wrn |
| 2014 | IAS | Hierarchical Task Networks as Domain-Specific Language for Planning Surgical Interventions. | Andreas Bihlmaier, Luzie Schreiter, Jrg Raczkowsky, Heinz Wrn |
| 2014 | IAS | EndoSnake - A Single-Arm-Multi-Port MIRS System with Flexible Instruments. | Julien Mintenbeck, Christoph Ledermann, Ramon Estaa, Heinz Wrn |
| 2014 | ICRA | Evaluation of a method for intuitive telemanipulation based on view-dependent mapping and inhibition of movements. | Simon Notheis, Bjrn Hein, Heinz Wrn |
| 2014 | IROS | 6D proximity servoing for preshaping and haptic exploration using capacitive tactile proximity sensors. | Stefan Escaida Navarro, Martin Schonert, Bjrn Hein, Heinz Wrn |
| 2014 | RO-MAN | Plausibility verification for situation awareness in safe human-robot cooperation. | Stephan Puls, Heinz Wrn |
| 2013 | IROS | Methods for safe human-robot-interaction using capacitive tactile proximity sensors. | Stefan Escaida Navarro, Maximiliano Marufo, Yitao Ding, Stephan Puls, Dirk Goger, Bjrn Hein, Heinz Wrn |
| 2013 | ICRA | The DLR artificial skin step I: Uniting sensitivity and collision tolerance. | Michael Strohmayr, Heinz Wrn, Gerd Hirzinger |
| 2012 | IAS | System Concept for Collision-Free Robot Assisted Surgery Using Real-Time Sensing. | Jrg Raczkowsky, Philip Nicolai, Bjrn Hein, Heinz Wrn |
| 2012 | SAC | Multi-fingered reactive grasping with active guided camera systems. | Heinz Wrn, Stephan Irgenfried, Thomas Haase |
| 2011 | ICRA | An intelligent and autonomous endoscopic guidance system for minimally invasive surgery. | Oliver Weede, Holger Mnnich, Beat P. Mller-Stich, Heinz Wrn |
| 2010 | ICINCO | Shared Memory in RTAI Simulink for Kernel and User-space Communication at the Example of the SDH-2 - QRtaiLab For SDH-2 Matrix Visualization. | Thomas Haase, Heinz Wrn, Holger Nahrstaedt |
| 2010 | ICRA | Haptic object recognition using passive joints and haptic key features. | Nicolas Gorges, Stefan Escaida Navarro, Dirk Goger, Heinz Wrn |
| 2010 | ICRA | Real-time collision detection for intrinsic safety of Multi-fingered SDH-2. | Thomas Haase, Heinz Wrn |
| 2010 | ICRA | Kinematic path-following control of a mobile robot on arbitrary surface. | Gavin J. Kane, Robert Boesecke, Jrg Raczkowsky, Heinz Wrn |
| 2010 | ICRA | An automatic and complete self-calibration method for robotic guided laser ablation. | Holger Mnnich, Daniel Stein, Jrg Raczkowsky, Heinz Wrn |
| 2010 | IROS | Introducing Wanda - A new robot for research, education, and Arts. | Alexander Kettler, Marc Szymanski, Jens Liedke, Heinz Wrn |
| 2010 | IROS | Skill-based telemanipulation by means of intelligent robots. | Simon Notheis, Giulio Milighetti, Bjrn Hein, Heinz Wrn, Jrgen Beyerer |
| 2010 | KI | Haptic Object Exploration Using Attention Cubes. | Nicolas Gorges, Peter Fritz, Heinz Wrn |
| 2010 | KI | Collision Free Path Planning for Intrinsic Safety of Multi-fingered SDH-2. | Thomas Haase, Heinz Wrn |
| 2009 | CEC | Investigating the effect of pruning on the diversity and fitness of robot controllers based on MDL2 ELEMENT OF during Genetic Programming. | Marc Szymanski, Heinz Wrn, Jan Fischer |
| 2009 | HCI | Mixed Reality Neurosurgical Microscope for Training and Intra-operative Purposes. | Alessandro De Mauro, Jrg Raczkowsky, Marc Eric Halatsch, Heinz Wrn |
| 2009 | ICRA | End-effector calibration and registration procedure for robot assisted laser material processing: Tailored to the particular needs of short pulsed CO2 laser bone ablation. | Jessica Burgner, Jrg Raczkowsky, Heinz Wrn |
| 2009 | ICRA | Tactile sensing for an anthropomorphic robotic hand: Hardware and signal processing. | Dirk Goger, Nicolas Gorges, Heinz Wrn |
| 2009 | IROS | Intuitive and model-based on-line programming of industrial robots: New input devices. | Bjrn Hein, Heinz Wrn |
| 2009 | MICCAI | System Design of a Hand-Held Mobile Robot for Craniotomy. | Gavin J. Kane, Georg Eggers, Robert Boesecke, Jrg Raczkowsky, Heinz Wrn, Rdiger Marmulla, Joachim Mhling |
| 2009 | VR | Virtual Reality Training Embedded in Neurosurgical Microscope. | Alessandro De Mauro, Jrg Raczkowsky, Marc Eric Halatsch, Heinz Wrn |
| 2008 | ICINCO | Using Stereo Vision and Tactile Sensor Features - For Grasp Planning Control. | Madjid Boudaba, Nicolas Gorges, Heinz Wrn, Alicia Casals |
| 2008 | ICINCO | Object Exploration with a Humanoid Robot - Using Tactile and Kinesthetic Feedback. | Nicolas Gorges, Stefan Gaa, Heinz Wrn |
| 2008 | ICRA | Methods for end-effector coupling in robot assisted interventions. | Jessica Burgner, Yaokun Zhang, Jrg Raczkowsky, Heinz Wrn, Georg Eggers, Joachim Mhling |
| 2008 | ICRA | Intuitive and model-based on-line programming of industrial robots: A modular on-line programming environment. | Bjrn Hein, Martin Hensel, Heinz Wrn |
| 2008 | IROS | Spatial macroscopic models of a bio-inspired robotic swarm algorithm. | Heiko Hamann, Heinz Wrn, Karl Crailsheim, Thomas Schmickl |
| 2008 | ICRA | Opening a door with a humanoid robot using multi-sensory tactile feedback. | Andreas J. Schmid, Nicolas Gorges, Dirk Goger, Heinz Wrn |
| 2007 | ETFA | Solving the inverse kinematics problem symbolically by means of knowledge-based and linear algebra-based methods. | Michael Wenz, Heinz Wrn |
| 2007 | ICMI | A tactile language for intuitive human-robot communication. | Andreas J. Schmid, Martin Hoffmann, Heinz Wrn |
| 2007 | ICRA | Using Acceleration Compensation to Reduce Liquid Surface Oscillation During a High Speed Transfer. | Suei Jen Chen, Bjrn Hein, Heinz Wrn |
| 2007 | IROS | Swing attenuation of suspended objects transported by robot manipulator using acceleration compensation. | Suei Jen Chen, Bjrn Hein, Heinz Wrn |
| 2007 | RO-MAN | Proactive Robot Task Selection Given a Human Intention Estimate. | Andreas J. Schmid, Oliver Weede, Heinz Wrn |
| 2006 | GI | Automatic Configuration of the Dynamic Model for Common Industrial Robots. | Michael Wenz, Heinz Wrn |
| 2006 | ICRA | Gentle Robotic Handling - Adaptation of Gripperorientation to Minimize Undesired Shear Forces. | Suei Jen Chen, Heinz Wrn, Uwe E. Zimmermann, Rainer Bischoff |
| 2006 | RO-MAN | The I-SWARM project. | Heinz Wrn, Marc Szymanski, Jrg Seyfried |
| 2005 | ICINCO | Combining manual haptic path planning of industrial robots with automatic path smoothing. | Heinz Wrn, Bjrn Hein, Detlef Mages, Berend Denkena, Rene Apitz, Pawel Kowalski, Niels Reimer |
| 2005 | IROS | Approach to an architecture for a generic computer integrated surgery system. | Helge Peters, Jrg Raczkowsky, Heinz Wrn |
| 2005 | RO-MAN | A novel approach to proactive human-robot cooperation. | Oliver C. Schrempf, Uwe D. Hanebeck, Andreas J. Schmid, Heinz Wrn |
| 2004 | IROS | Co-operative carrying using pump-like constraints. | Sadi Yigit, Catherina Burghart, Heinz Wrn |
| 2003 | IROS | Development of a flexible tactile sensor system for a humanoid robot. | Oliver Kerpa, Karsten Weiss, Heinz Wrn |
| 2001 | ETFA | The scanning electron microscope as sensor system for mobile microrobots. | Ferdinand Schmoeckel, Heinz Wrn, Matthias Kiefer |
| 2001 | ICRA | A Safe Robot System for Craniofacial Surgery. | Dirk Engel, Jrg Raczkowsky, Heinz Wrn |
| 2001 | ICRA | Remotely Controllable Mobile Microrobots Acting as Nano Positioners and Intelligent Tweezers in Scanning Electron Microscopes (SEMs). | Ferdinand Schmoeckel, Heinz Wrn |
| 2001 | MICCAI | A Supervising System for Robot Application in Surgery. | Dirk Engel, Jrg Raczkowsky, Heinz Wrn |
| 2001 | MICCAI | Augmented Reality in the Operating Theatre of the Future. | Heinz Wrn, Harald Hoppe |
| 2000 | ICIP | Robust Algorithms for Recognizing Shape Changes of Deformable Linear Objects in Video Image Sequences. | Frank Abegg, Heinz Wrn |
| 2000 | ICPR | A Robust Algorithm for Segmenting Deformable Linear Objects from Video Image Sequences. | Frank Abegg, Dirk Engel, Heinz Wrn |
| 2000 | IROS | Planning of rapid grasp operations in unstructured scenes. | Markus Mller, Heinz Wrn |
| 2000 | IROS | Operation planning of robot supported surgical interventions. | Jan Mnchenberg, Jakob Brief, Jrg Raczkowsky, Heinz Wrn, Stefan Hafeld, Joachim Mhling |
| 2000 | IROS | Object turning for barcode search. | Derk Rembold, Vladislav Belogroudov, Heinz Wrn |
| 2000 | IROS | Manipulating deformable linear objects-force-based detection of contact state transitions. | Axel J. Remde, Evelyn H. Pfaffenberger, Heinz Wrn |
| 2000 | MICCAI | Endoscopic Robots. | Carsten Kbler, Jrg Raczkowsky, Heinz Wrn |
| 1999 | IROS | Manipulating deformable linear objects-contact state transitions and transition conditions. | Axel J. Remde, Dominik Henrich, Heinz Wrn |
| 1998 | GI | Integriertes Patientenmodell fr chirurgische Eingriffe. | Jrg Raczkowsky, Hartwig Grabowski, Jan Mnchenberg, Catherina Burghart, Ulrich Rembold, Heinz Wrn |
| 1998 | ICRA | 6 DOE Path Planning in Dynamic Environments: A Parallel On-Line Approach. | Dominik Henrich, Christian Wurll, Heinz Wrn |
| 1998 | IROS | Online path planning with optimal C-space discretization. | Dominik Henrich, Christian Wurll, Heinz Wrn |