| 2011 | HRI | HRI: the real world. | Jennifer L. Burke, Henrik I. Christensen, Roland Menassa, Ralf Koeppe, Joe Dyer, Mario E. Munich |
| 2006 | IROS | Reactionless Control for two Manipulators Mounted on a Cable-Suspended Platform. | Roberto Lampariello, Johann Heindl, Ralf Koeppe, Gerd Hirzinger |
| 2003 | ISRR | Robot-Robot and Human-Robot Cooperation in Commercial Robotics Applications. | Ralf Koeppe, D. Engelhardt, A. Hagenauer, P. Heiligensetzer, B. Kneifel, A. Knipfer, Ken Stoddard |
| 2002 | IROS | Data fusion for compliant motion tasks based on human skills. | Rui Corteso, Ralf Koeppe, Urbano Nunes, Gerd Hirzinger |
| 2001 | IROS | Compliant motion control with stochastic active observers. | Rui Corteso, Ralf Koeppe, Urbano Nunes, Gerd Hirzinger |
| 2001 | ISRR | A New Generation of Compliance Controlled Manipulators with Human Arm Like Properties. | Ralf Koeppe, Alin Albu-Schffer, Carsten Preusche, Gnter Schreiber, Gerd Hirzinger |
| 2000 | IROS | Explicit force control for manipulators with active observers. | Rui Corteso, Ralf Koeppe, Urbano Nunes, Gerd Hirzinger |
| 2000 | IROS | A signal-based approach to localization and navigation of autonomous compliant motion. | Ralf Koeppe, Gerd Hirzinger |
| 2000 | IROS | Verification of an advanced space teleoperation system using Internet. | Yuichi Tsumaki, Toshihiko Goshozono, Koyu Abe, Masaru Uchiyama, Ralf Koeppe, Gerd Hirzinger |
| 1999 | IROS | Sensor fusion for skill transfer systems. | Rui Corteso, Ralf Koeppe |
| 1999 | IROS | Sensorimotor compliant motion from geometric perception. | Ralf Koeppe, Gerd Hirzinger |
| 1997 | IROS | Dynamic manipulability analysis of compliant motion. | Ralf Koeppe, Tsueno Yoshikawa |
| 1996 | IROS | Skill representation and acquisition of compliant motions using a teach device. | Ralf Koeppe, Achim Breidenbach, Gerd Hirzinger |