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2015

S.M. Khansari-Zadeh and O. Khatib, "Learning potential functions from human demonstrations with encapsulated dynamic and compliant behaviors" , Autonomous Robots, 2015. Bibtex


2014

E. Demircan, A. Murai, O. Khatib, and Y. Nakamura, "Muscular Effort for the Characterization of Human Postural Behaviors" , Springer Tracts in Advanced Robotics: Experimental Robotics, Springer Netherlands, Netherlands, 2014. Bibtex

O. Khatib and S.Y. Chung, "SupraPeds: Humanoid Contact-Supported Locomotion for 3D Unstructured Environments" , ICRA,, Hong Kong, China, May, 2014. Bibtex

E. Klingbeil and S. Menon and K. Go and O. Khatib, "Using Haptics To Identify Human Contact Control Strategies For Six Degree-of-Freedom Tasks" , Haptics Symposium (HAPTICS), 2014 IEEE, 93--95, February, 2014. Bibtex

S. Menon and A. Stanley and J. Zhu and A. Okamura and O. Khatib, "Mapping Stiffness Perception in the Brain with an fMRI-Compatible Particle-Jamming Haptic Interface" , Proceedings of the 14th Annual Conference of the IEEE Engineering in Medicine and Biology Society, August, 2014. Bibtex

S. Menon P. Quigley and and M. Yu and O. Khatib, "Haptic fMRI : Using Classification to Quantify Task-Correlated Noise during Goal-Directed Reaching Motions" , Proceedings of the 14th Annual Conference of the IEEE Engineering in Medicine and Biology Society, August, 2014. Bibtex

S. Menon and S. Fok and A. Neckar and O. Khatib and K. Boahen, "Controlling Articulated Robots in Task-Space with Spiking Silicon Neurons" , Proceedings of the IEEE International Conference on Biomedical Robotics and Biomechatronics, August, 2014. Bibtex

S. Menon and H. Ganti and O. Khatib, "Using Haptic fMRI to Enable Interactive Motor Neuroimaging Experiments" , Springer Tracts in Advanced Robotics: Experimental Robotics, Springer Netherlands, 2014. Bibtex


2013

A. Gonzalez and M. Hayashibe and E. Demircan and P. Fraisse, "Center of Mass Estimation for Rehabilitation in a Multi-contact Environment: a Simulation Study" , Proc. of the IEEE International Conference on Systems, Man, and Cybernetics (SMC), Manchester, UK, October, 2013. Bibtex

R. Katzschmann and T. Kröger and T. Asfour and O. Khatib, "Towards Online Trajectory Generation Considering Robot Dynamics and Torque Limits" , IROS,, Tokyo, Japan, November, 2013. Bibtex

T. Schlegl and T. Kröger and A. Gaschler and O. Khatib and H. Zangl, "Virtual Whiskers - Highly Responsive Robot Collision Avoidance" , IROS,, Tokyo, Japan, November, 2013. Bibtex

E. Demircan, "Robotics-based Reconstruction and Synthesis of Human Motion" , Workshop on Computational Techniques in Natural Motion Analysis and Reconstructiong at the IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May, 2013. Bibtex

A. Gaschler and R. P. A. Petrick and T. Kröger and A. Knoll and O. Khatib, "Robot Task Planning with Contingencies for Run-time Sensing" , Workshop on Workshop on Combining Task and Motion Planning at the IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May, 2013. Bibtex

A. Gaschler and R. P. A. Petrick and T. Kröger and A. Knoll and O. Khatib, "Robot Task and Motion Planning with Sets of Convex Polyhedra" , Workshop on Workshop on Task and Motion Planning at Robotics Science and Systems, Berlin, Germany, June, 2013. Bibtex

S. Menon and G. Brantner and C. Aholt and K. Kay and O. Khatib, "Haptic fMRI : Combining Functional Neuroimaging with Haptics for Studying the Brain's Motor Contro Representation" , Proc. of the 35th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Osaka, Japan, July, 2013. Bibtex

T. Kröger, "Instantaneous Trajectory Generation for Multi-axis Motion Control Systems" , Proc. of the Embedded Word Conference, Nuremberg, Germany, April, 2013. Bibtex

D. Shin and X. Yeh and O. Khatib, " Circular Pulley vs. Variable Radius Pulley: Optimal Design Methodologies and Dynamic Characteristics Analysis" , TransR, 29, 3, 766--774, 2013. Bibtex

"Experimental Robotics" , Springer Tracts in Advanced Robotics, 79, Springer, Berlin, Heidelberg, Germany, O. Khatib and V. Kumar and G. Sukhatme, 2013. Bibtex

"Experimental Robotics" , Robot Design Dynamics, and Contol, Springer, Berlin, Heidelberg, Germany, V. Padois and P. Bidaud and O. Khatib, 2013. Bibtex


2012

F. Flacco and A. De Luca and O. Khatib, "Prioritized Multi-Task Motion Control of Redundant Robots under Hard Joint Constraints" , IROS,, Algarve, Portugal, October, 2012. Bibtex

J. S. Kwon and T. Yoshikawa and O. Khatib, "Elastic Strips: Implementation on a Physical Humanoid Robot" , IROS,, Algarve, Portugal, October, 2012. Bibtex

E. Demircan and T. F. Besier and O. Khatib, "Muscle Force Transmission to Operational Space Accelerations During Elite Golf Swings" , ICRA,, 1464--1469, St Paul, MN, USA, May, 2012. Bibtex

F. Flacco and T. Kröger and A. De Luca and O. Khatib, "A Depth Space Approach to Human-Robot Collision Avoidance" , ICRA,, 338--345, Saint Paul, MN, USA, May, 2012. Bibtex

T. Kröger, "On-Line Trajectory Generation: Nonconstant Motion Constraints" , ICRA,, 2048--2054, Saint Paul, MN, USA, May, 2012. Bibtex

T. Kröger and J. Padial, "Simple and Robust Visual Servo Control of Robot Arms Using an On-Line Trajectory Generator" , ICRA,, 4862--4869, Saint Paul, MN, USA, May, 2012. Bibtex

D. Shin and X. Yeh and T. Narita and O. Khatib, "Motor vs. Brake: Comparative Studies on Performance and Safety in Hybrid Actuations" , Proc. of the International Symposium on Experimental Robotics, Quèbec City, Canada, June,, 2012. Bibtex

E. Demircan and O. Khatib, "Constraint-Consistent Analysis of Muscle Force Contributions to Human Gait" , Proc. of the 13th International Symposium Advances in Robot Kinematics, Springer, Berlin, Heidelberg, Germany, J. Lenar&ccaroni&ccaron and M. Husty, Innsbruck, Austria, June, 2012. Bibtex

E. Demircan, "Robotics-based Reconstruction and Synthesis of Human Motion" , August, 2012. Bibtex

A. Petrovskaya and M. Perrollaz and L. Oliveira and L. Spinello and R. Triebel and A. Makris and J.-D. Yoder and C. Laugier and U. Nunes and P. Bessiere, "Awareness of Road Scene Participants for Autonomous Driving" , Handbook of Intelligent Vehicles, Springer London, A. Eskandarian, 2012. Bibtex


2011

E. Demircan and O. Khatib, "Task-Level Reconstruction and Analysis of Dynamic Motions in Human Musculoskeletal Systems" , In\A0Workshop on Robotics for Neurology and Rehabilitation at the IEEE/RSJ International Conference on Intellegent Robots and Systems, San Francisco, CA, USA, Septembter, 2011. Bibtex

S. Phan and Z. F. Quek and P. Shah and D. Shin and Z. Ahmed and O. Khatib and M. R. Cutkosky, "Capacitive Skin Sensors for Robot Impact Monitoring" , IROS,, 2992--2997, San Francisco, CA, USA, Septembter, 2011. Bibtex

R. Philippsen and L. Sentis and O. Khatib, "An Open Source Extensible Software Package to Create Whole-Body Compliant Skills in Personal Mobile Manipulators" , IROS,, 1036--1041, San Francisco, CA, USA, Septembter, 2011. Bibtex

D. Shin and Z. F. Quek and S. Phan and M. R. Cutkosky and O. Khatib, "Instantaneous Stiffness Effects on Impact Forces in Human-Friendly Robots" , IROS,, 2998--3003, San Francisco, CA, USA, Septembter, 2011. Bibtex

D. Shin and X. Yeh and O. Khatib, "Variable Radius Pulley Design Methodology for Pneumatic Artificial Muscle-based Antagonistic Actuation Systems" , IROS,, 1830--1835, San Francisco, CA, USA, Septembter, 2011. Bibtex

A. Tobergte and P. Helmer and U. Hagn and P. Rouiller and S. Thielmann and S. Grange and A. Albu-Schäffer and F. Conti and G. Hirzinger, "The sigma.7 Haptic Interface for MiroSurge: A New Bi-manual Surgical Console" , IROS,, 3023--3030, San Francisco, CA, USA, Septembter, 2011. Bibtex

T. Kröger, "On-Line Trajectory Generation: Straight-Line Trajectories" , TransR,, 27, 5, 1010--1016, October, 2011. Bibtex

F. Flacco and T. Kröger and A. De Luca and O. Khatib, "A Depth Space Approach to Human-Robot Collision Avoidance" , In Workshop on Human-Friendly Robotics, Twente, The Netherlands, November, 2011. Bibtex

E. Klingbeil and D. Rao and B. Carpenter and V. Ganapathi and A. Y. Ng and O. Khatib, "Grasping with Application to an Autonomous Checkout Robot" , ICRA,, 2837--2844, Shanghai, China, May, 2011. Bibtex

S. Chan and F. Conti and N.H. Blevins and K. Salisbury, "Constraint-based Six Degree-of-freedom Haptic Rendering of Volume-embedded Isosurfaces" , In Proc. of the IEEE World Haptics Conference, 89--94, Istanbul, Turkey, June,, 2011. Bibtex

F. Flacco and T. Kröger and A. De Luca and O. Khatib, "Collision Avoidance in Depth Space" , In Workshop on RGB-D: Advanced Reasoning with Depth Cameras at Robotics Science and Systems, Los Angeles, CA, USA, June,, 2011. Bibtex

A. Petrovskaya, "Towards Dependable Robotic Perception" , June,, 2011. Bibtex

A. Petrovskaya and O. Khatib, "Global Localization of Objects via Touch" , TransR,, 27, 3, 569--585, June,, 2011. Bibtex


2010

E. Klingbeil and B. Carpenter and O. Russakovsky and A. Y. Ng, "Autonomous Operation of Novel Elevators for Robot Navigation" , ICRA, 751--758, Anchorage, AK, USA, May, 2010. Bibtex

D. Shin and F. Seitz and O. Khatib and M. R. Cutkosky, "Analysis of Torque Capacities in Hybrid Actuation for Human-Friendly Robot Design" , ICRA, 799--804, Anchorage, AK, USA, May, 2010. Bibtex

T. Yoshikawa, "An Approach for Multi-Contact and Whole-Body Control of Humanoid Robot" , Workshop on Active Force Control at the IEEE International Conference on Robotics and Automation, Anchorage, AK, USA, May, 2010. Bibtex

E. Demircan and T. Besier and S. Menon and O. Khatib, "Human Motion Reconstruction and Synthesis of Human Skills" , Proc. of the Twelveth International Symposium Advances in Robot Kinematics, Springer, Berlin, Heidelberg, Germany, Piran-Portoroz, Slovenia, June,, 2010. Bibtex

A. Petrovskaya and S. Thrun and D. Koller and O. Khatib, "Guaranteed Inference for Global State Estimation in Human Environments" , In Workshop on Workshop on Strategies and Evaluation for Mobile Manipulation in Household Environments, Zaragoza, Spain, June,, 2010. Bibtex

A. Petrovskaya and S. Thrun and D. Koller and O. Khatib, "Towards Dependable Perception: Guaranteed Inference for Global Localizatio" , IARP Workshop on Technical Challenges for Dependable Robots in Human Environments, Toulouse, France, June,, 2010. Bibtex

L. Sentis and J. Park and O. Khatib, "Compliant Control of Multi-Contact and Center of Mass Behaviors in Humanoid Robots" , TransR, 26, 3, 483--501, June,, 2010. Bibtex

A. K. Arumbakkam and T. Yoshikawa and B. Dariush and K. Fujimura, "A Multi-modal Architecture for Human Robot Communication" , HUMANOIDS,, 639--646, Nashville, TN, USA, December, 2010. Bibtex

F. Conti and J. Park and O. Khatib, "Interface Design and Control Strategies for a Robot Assisted Ultrasonic Examination System" , ISER,, New Delhi, India, December, 2010. Bibtex

D. Shin and I. Sardellitti and Y.-L. Park and O. Khatib and M. Cutkosky, "Design and Control of a Bio-Inspired Human-Friendly Robot" , IJRR, 29, 5, 571--584, April, 2010. Bibtex


2009

E. Demircan and O. Khatib and J. Wheeler and S. Delp, "Reconstruction and EMG-Informed Control, Simulation and Analysis of Human Movement for Athletics: Performance Improvement and Injury Prevention" , Proc. of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 6534--6537, Minneapolis, MN, USA, Septembter, 2009. Bibtex

L. Sentis and J. Park and O. Khatib, "Modeling and Control of Multi-Contact Centers of Pressure and Internal Forces in Humanoid Robots" , IROS, 453--460, St. Louis, MO, USA, October, 2009. Bibtex

T. Yoshikawa and O. Khatib, "Compliant Humanoid Robot Control by the Torque Transformer" , IROS, 3011--3018, St. Louis, MO, USA, October, 2009. Bibtex

A. Petrovskaya and S. Thrun, "Model Based Vehicle Tracking in Urban Environments" , Workshop on Safe Navigation in Open and Dynamic Environments Application to Autonomous Vehicles at the IEEE International Conference on Robotics and Automation, Kobe, Japan, May, 2009. Bibtex

M. Quigley and S. Batra and S. Gould and E. Klingbeil and Q. Le and A. Wellman and A. Y. Ng, "High-Accuracy 3D Sensing for Mobile Manipulation: Improving Object Detection and Door Opening" , ICRA, 2816--2822, Kobe, Japan, May, 2009. Bibtex

D. Shin and O. Khatib and M. R. Cutkosky, "Design Methodologies of a Hybrid Actuation Approach for a Human-Friendly Robot" , ICRA, 4369--4374, Kobe, Japan, May, 2009. Bibtex

F. Conti and O. Khatib, "A New Actuation Approach for Haptic Interface Design" , IJRR, 28, 6, 834--848, June,, 2009. Bibtex

"Special Issue on the Tenth International Symposium on Experimental Robotics" , IJRR, 28, 6, O. Khatib and V. Kumar and D. Rus, June,, 2009. Bibtex

N. Mansard and O. Khatib and A. Kheddar, "A Unified Approach to Integrate Unilateral Constraints in the Stack of Tasks" , TransR,, 25, 3, 670--685, June, 2009. Bibtex

E. Demircan and J. Wheeler and F. C. Anderson and T. Besier and S. Delp, "EMG-Informed Computed Muscle Control for Dynamic Simulations of Movement" , Proc. of the XXII Congress of the International Society of Biomechanics, Cape Town South Africa, July, 2009. Bibtex

O. Khatib, "Human-Friendly Robotics" , Proc. of the IEEE International Symposium on Industrial Electronics, iv, Seoul, South Korea, July, 2009. Bibtex

R. Philippsen and N. Nejati and L. Sentis, "Bridging the Gap Between Semantic Planning and Continuous Control for Mobile Manipulation Using a Graph-Based World Representation" , Proc. of the First International Workshop on Hybrid Control of Autonomous Systems, 77--81, Passadena, CA, USA, July, 2009. Bibtex

L. Sentis and M. Mintz and A. Ayyagari and C. Battles and S. Ying and O. Khatib, "Large Scale Multi-Robot Coordination Under Network and Geographical Constraints" , Proc. of the IEEE International Symposium of Industrial Electronics, 1046--1053, Seoul, South Korea, July, 2009. Bibtex

O. Khatib and E. Demircan and V. De Sapio and L. Sentis and T. Besier and S. Delp, "Robotics-based Synthesis of Human Motion" , Journal of Physiology Paris, 103, 3--5, 211--219, August, 2009. Bibtex

A. Petrovskaya and S. Thrun, "Model Based Vehicle Detection and Tracking for Autonomous Urban Driving" , Autonomous Robots, Special Issue: Selected papers from Robotics: Science and Systems 2008, 26, 2--3, 123--139, Springer, Berlin, Heidelberg, Germany, Josè Neira and Jeff Trinkle, April, 2009. Bibtex

O. Khatib and L. Sentis and J. Park, "A Unified Framework for Whole-Body Humanoid Robot Control with Multiple Constraints and Contacts" , European Robotics Symposium 2008, Springer Tracts in Advanced Robotics, 44, 303--312, Springer, Berlin, Heidelberg, Germany, H. Bruyninckx and L. P&rcaroneu&ccaronil and M. Kulich, 2009. Bibtex

A. Petrovskaya and S. Thrun, "Efficient Techniques for Dynamic Vehicle Detection" , Experimental Robotics, Springer Tracts in Advanced Robotics, 54, 79--91, Springer, Berlin, Heidelberg, Germany, O. Khatib and V. Kumar and G. J. Pappas, 2009. Bibtex

D. Shin and I. Sardellitti and Y.-L. Park and O. Khatib and M. R. Cutkosky, "Design and Control of a Bio-inspired Human-Friendly Robot" , Experimental Robotics, Springer Tracts in Advanced Robotics, 54, 43--52, Springer, Berlin, Heidelberg, Germany, O. Khatib and V. Kumar and G. J. Pappas, 2009. Bibtex

"Experimental Robotics" , Springer Tracts in Advanced Robotics, 54, Springer, Berlin, Heidelberg, Germany, O. Khatib and V. Kumar and G. J. Pappas, 2009. Bibtex


2008

A. Bowling and O. Khatib, "Dynamic Performance in the Modular Design of Redundant Macro/Mini Manipulators" , ASME Journal of Mechanical Design, 130, 9, 092301/1--092301/11, Septembter, 2008. Bibtex

M. Montemerlo and J. Becker and S. Bhat and H. Dahlkamp and D. Dolgov and S. Ettinger and D. Haehnel and T. Hilden and G. Hoffmann and B. Huhnke and D. Johnston and S. Klumpp and D. Langer and A. Levandowski and J. Levinson and J. Marcil and D. Orenstein and J. Paefgen and I. Penny and A. Petrovskaya and M. Pflueger and G. Stanek and D. Stavens and A. Vogt and S. Thrun, "Junior: The Stanford Entry in the Urban Challenge" , Journal of Field Robotics, Special Issue on the 2007 DARPA Urban Challenge, Part II, 25, 9, 569-597, Septembter, 2008. Bibtex

J. Park and O. Khatib, "Robot Multiple Contact Control" , Robotica, 26, 5, 667--677, Septembter, 2008. Bibtex

T. Yoshikawa and O. Khatib, "Compliant Motion Control for a Humanoid Robot in Contact with the Environment and Humans" , IROS, 211--218, Nice, France, Septembter, 2008. Bibtex

S. Burion and F. Conti and A. Petrovskaya and C. Baur and O. Khatib, "Identifying Physical Properties of Deformable Objects by Using Particle Filters" , ICRA, 1112--1117, Passadena, CA, USA, May, 2008. Bibtex

O. Khatib and P. Thaulad and T. Yoshikawa and J. Park, "Torque-Position Transformer for Task Control of Position Controlled Robots" , ICRA, 1729--1734, Passadena, CA, USA, May, 2008. Bibtex

N. Mansard and O. Khatib, "Continuous Control Law from Unilateral Constraints" , ICRA,, 3359--3364, Passadena, CA, USA, May, 2008. Bibtex

D. Shin and I. Sardellitti and O. Khatib, "A Hybrid Actuation Approach for Human-Friendly Robot Design" , ICRA, 1747--1752, Passadena, CA, USA, May, 2008. Bibtex

P. Backes and D. Helmick and M. Bajracharya and O. Khatib and V. Padois and J. Warren, "Results of Coring from a Low Mass Rover" , Proc. of the IEEE Aerospace Conference, 1--7, Big Sky, MT, USA, March, 2008. Bibtex

M. Zinn and O. Khatib and B. Roth and J. K. Salisbury, "Large Workspace Haptic Devices - A New Actuation Approach" , Proc. of the IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 185--192, Reno, NV, USA, March, 2008. Bibtex

"Dielectric Elastomers as Electromechanical Transducers: Fundamentals, Materials, Devices, Models and Applications of an Emerging Electroactive Polymer Technology" , Elsevier Science, New York, NY, USA, R. Zhang and P. Lochmatter and G. Kovacs and A. Kunz and F. Conti, March, 2008. Bibtex

E. Demircan and L. Sentis and V. De Sapio and O. Khatib, "Human Motion Reconstruction by Direct Control of Marker Trajectories" , Proc. of the Eleventh International Symposium Advances in Robot Kinematics, 263--272, Springer, Berlin, Heidelberg, Germany, J. Lenar&ccaroni&ccaron and P. Wenger, Batz-sur-Mer, France , June,, 2008. Bibtex

E. Klingbeil and A. Saxena and A. Y. Ng, "Learning to Open New Doors" , RSS, Zurich, Switzerland, June,, 2008. Bibtex

A. Petrovskaya and S. Thrun, "Model Based Vehicle Tracking for Autonomous Driving in Urban Environments" , RSS, Zurich, Switzerland, June,, 2008. Bibtex

O. Khatib and L. Sentis and J. Park, "A Unified Framework for Whole-body Humanoid Robot Control with Multiple Constraints and Contacts" , Proc. of the European Robotics Symposium, iv, Springer, Berlin, Heidelberg, Germany, Prague, Czech Republic, July, 2008. Bibtex

J. Park, "Synthesis of Natural Arm Swing Motion in Human Bipedal Walking" , Journal of Biomechanics, 41, 7, 1417--1426, April, 2008. Bibtex

V. De Sapio and O. Khatib and S. Delp, "Least Action Principles and Their Application to Constrained and Task-Level Problems in Robotics and Biomechanics" , http://www.springer.com/engineering/journal/11044, 19, 3, 303--322, April, 2008. Bibtex

S. Billimoria and N. Mukherjee and A. Petrovskaya and O. Khatib, "Tactile Sensors" , 2008. Bibtex

F. Conti and O. Khatib, "A New Actuation Approach for Haptic Interface Design" , Experimental Robotics, Springer Tracts in Advanced Robotics, 39, 441--450, Springer, Berlin, Heidelberg, Germany, O. Khatib and V. Kumar and D. Rus, 2008. Bibtex

F. Conti and O. Khatib, "A New Actuation Approach for Haptic Interface Design" , Experimental Robotics, Springer Tracts in Advanced Robotics, 39, 441--450, Springer, Berlin, Heidelberg, Germany, O. Khatib and V. Kumar and D. Rus, 2008. Bibtex

"Experimental Robotics" , Springer Tracts in Advanced Robotics, 39, Springer, Berlin, Heidelberg, Germany, O. Khatib and V. Kumar and D. Rus, 2008. Bibtex

"The Handbook of Robotics" , Springer, Berlin, Heidelberg, Germany, B. Siciliano and O. Khatib, 2008. Bibtex


2007

I. Sardellitti and J. Park and D. Shin and O. Khatib, "Air Muscle Controller Design in the Distributed Macro-Mini (DM2) Actuation Approach" , IROS, 1822--1827, San Diego, CA, USA, October, 2007. Bibtex

"Special Issue on the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics" , IJRR, 26, 11--12, P. Dario and D. R. Meldrum and O. Khatib, November, 2007. Bibtex

F. Conti and O. Khatib and C. Baur, "A Hybrid Actuation Approach for Haptic Devices" , Proc. of the Second IEEE Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 367--372, Tsukuba, Japan, March, 2007. Bibtex

A. Petrovskaya and O. Khatib and S. Thrun and A. Y. Ng, "Touch Based Perception for Object Manipulation" , Workshop on Robot Manipulation: Sensing and Adapting to the Real World, Atlanta, GA, USA, June,, 2007. Bibtex

L. Sentis, "Synthesis and Control of Whole-Body Behaviors in Humanoid Systems" , July, 2007. Bibtex

A. Petrovskaya and A. Y. Ng, "Probabilistic Mobile Manipulation in Dynamic Environments with Application to Opening Doors" , Proc. of the 20th International Joint Conference on Artifical Intelligence, 2178--2184, Hydrabad, India, January, 2007. Bibtex

A. Petrovskaya and J. Park and O. Khatib, "Probabilistic Estimation of Whole Body Contacts for Multi-Contact Robot Control" , ICRA, 568--573, Rome, Italy, April, 2007. Bibtex


2006

J. Park and O. Khatib, "Contact Consistent Control Framework for Humanoid Robots" , ICRA, 1963--1969, Orlando, FL, USA, May, 2006. Bibtex

J. Park and O. Khatib, "A Haptic Teleoperation Approach Based on Contact Force Control" , IJRR, 25, 5--6, 575--591, May, 2006. Bibtex

A. Petrovskaya and O. Khatib and S. Thrun and A. Y. Ng, "Bayesian Estimation for Autonomous Object Manipulation Based on Tactile Sensors" , ICRA, 707--714, Orlando, FL, USA, May, 2006. Bibtex

V. De Sapio and K. S. Holzbaur and O. Khatib, "The Control of Kinematically Constrained Shoulder Complexes: Physiological and Humanoid Examples" , ICRA, 2952--2959, Orlando, FL, USA, May, 2006. Bibtex

L. Sentis and O. Khatib, "A Whole-Body Control Framework for Humanoid Operating in Human Environments" , ICRA, 2641--2648, Orlando, FL, USA, May, 2006. Bibtex

"Special Issue on ISER 04" , IJRR, 25, 5--6, M. H. Ang and O. Khatib, May, 2006. Bibtex

J. Park, "Control Strategies for Robots in Contact" , March, 2006. Bibtex

V. De Sapio and J. Warren and O. Khatib and S. Delp, "Simulating the Task-level Control of Human Motion: A Methodology and Framework for Implementation" , http://www.springer.com/computer/image+processing/journal/371, 25, 1, 289--302, June,, 2006. Bibtex

R. Cortesao and J. Park and O. Khatib, "Real-Time Adaptive Control for Haptic Tele-Manipulation with Kalman Active Observers" , TransR, 22, 5, 987--999, August, 2006. Bibtex

V. De Sapio and O. Khatib and S. Delp, "Task-Level Approaches for the Control of Constrained Multibody Systems" , http://www.springer.com/engineering/journal/11044, 16, 1, 73--102, August, 2006. Bibtex

J. Park and O. Khatib, "Robust Haptic Teleoperation of a Mobile Manipulation Platform" , Experimental Robotics IX, Springer Tracts in Advanced Robotics, 21, 543--554, Springer, Berlin, Heidelberg, Germany, M. H. Ang and O. Khatib, 2006. Bibtex

V. De Sapio and J. Warren and O. Khatib, "Predicting Reaching Postures Using a Kinematically Constrained Shoulder Model" , Advances in Robot Kinematics, 209--218, Springer, Berlin, Heidelberg, Germany, J. Lenar&ccaroni&ccaron and B. Roth, 2006. Bibtex

"Experimental Robotics IX" , Springer Tracts in Advanced Robotics, 21, Springer, Berlin, Heidelberg, Germany, M. H. Ang and O. Khatib, 2006. Bibtex


2005

"Special Issue on the Eleventh International Symposium on Robotics Research" , IJRR, 24, 9, R. Chatila and P. Dario and O. Khatib, Septembter, 2005. Bibtex

F. Conti and F. Barbagli and D. Morris and C. Sewell, "CHAI 3D - An Open-Source Library for the Rapid Development of Haptic Scenes" , Proc. of the Eurohaptics on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Pisa, Italy, March, 2005. Bibtex

F. Conti and O. Khatib, "Spanning Large Workspaces Using Small Haptic Devices" , Proc. of the Eurohaptics on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 183--188, Pisa, Italy, March, 2005. Bibtex

V. DeSapio and J. Warren and O. Khatib, "Simulating the Task-level Control of Human Motion: A Methodology and Framework for Implementation" , The Visual Computer, 21, 5, 289--302, Springer, June,, 2005. Bibtex

R. Jamisola and M. H. Ang and O. Khatib and D.-N. Oetomo and T.-M. Lim and S.-Y. Lim, "Compliant Motion Using a Mobile Manipulator: An Operational Space Formulation Approach to Aircraft Canopy Polishing" , ADRO, 19, 5, 477--634, June,, 2005. Bibtex

K. Lee and J. Park and O. Khatib and D.-S. Kwon, "Feedforward Global/Inertial Sensor Fusion Algorithm for Accurate Global Positioning of a Mobile Robot" , Proc. of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 504--509, Monterey, CA, USA, July, 2005. Bibtex

A. Bowling and O. Khatib, "The Actuation Efficiency, a Measure of Acceleration Capability for Non-Redundant Robotic Manipulators" , JRS, 22, 12, 759--766, December, 2005. Bibtex

L. Sentis and O. Khatib, "Synthesis of Whole-Body Behaviors Through Hierarchical Control of Behavioral Primitives" , IJHR, 2, 4, 505--518, December, 2005. Bibtex

A. Bowling and O. Khatib, "The Dynamic Capability Equations: A New Tool for Analyzing Manipulator Dynamic Performance" , TransR, 21, 1, 115--123, August, 2005. Bibtex

R. Cortesao and J. Park and O. Khatib, "Telepresence and Stability Analysis for Haptic Tele-Manipulation with Short Time Delay" , ICAR, 436--441, Coimbra, Portugal, August, 2005. Bibtex

S. R. Munasinghe and C. Oh and J. J. Lee and O. Khatib, "Obstacle Avoidance Using Velocity Dipole Field Method" , Proc. of the International Conference on Computer Applications in Shipbuilding, Busan, South Korea, August, 2005. Bibtex

V. DeSapio and O. Khatib, "Operational Space Control of Multibody Systems with Explicit Holonomic Constraints" , ICRA,, 2950--2956, Barcelona, Spain, April, 2005. Bibtex

J. Park and O. Khatib, "Multi-Link Multi-Contact Force Control for Manipulators" , ICRA, 3613--3618, Barcelona, Spain, April, 2005. Bibtex

V. De Sapio and O. Khatib, "Telepresence and Stability Analysis for Haptic Tele-Manipulation with Short Time Delay" , ICRA, 2950--2956, Barcelona, Spain, April, 2005. Bibtex

L. Sentis and O. Khatib, "Control of Free-Floating Humanoid Robots Through Task Prioritization" , ICRA, 1718--1723, Barcelona, Spain, April, 2005. Bibtex


2004

L. Sentis and O. Khatib, "Prioritized Multi-objective Dynamics and Control of Robots in Human Environments" , Proc. of the IEEE/RAS International Conference on Humanoid Robots, 2, 764--780, Los Angeles, CA, USA, November, 2004. Bibtex

L. Sentis and O. Khatib, "Task-Oriented Control of Humanoid Robots Through Prioritization" , Proc. of the IEEE-RAS/RSJ International Conference on Humanoid Robots, Santa Monica, CA, USA, November, 2004. Bibtex

O. Khatib and L. Sentis and J. Park and J. Warren, "Whole Body Dynamic Behavior and Control of Human-Like Robots" , IJHR, 1, 1, 29--44, March, 2004. Bibtex

J. K. Salisbury and F. Conti and F. Barbagli, "Haptic Rendering: Introductory Concepts" , IEEE Computer Graphics and Applications, 24, 2, 24--32, March, 2004. Bibtex

M. Zinn and O. Khatib and B. Roth and J. K. Salisbury, "Playing It Safe" , RAM, 11, 2, 12--21, June,, 2004. Bibtex

O. Khatib and O. Brock and K.-S. Chang and D. C. Ruspini and L. Sentis and S. Viji, "Human-Centered Robotics and Interactive Haptic Simulation" , IJRR, 23, 2, 167--178, February, 2004. Bibtex

J. Park and R. Cortesão and O. Khatib, "Multi-Contact Compliant Motion Control for Robotic Manipulators" , ICRA, 5, 4789--4794, New Orleans, LA, USA, April, 2004. Bibtex

M. Zinn and O. Khatib and B. Roth, "A New Actuation Approach for Human-Friendly Robot Design" , ICRA, 1, 249--254, New Orleans, LA, USA, April, 2004. Bibtex

M. Zinn and O. Khatib and B. Roth and J. K. Salisbury, "A New Actuation Approach for Human Friendly Robot Design" , IJRR, 23, 4--5, 379--398, April, 2004. Bibtex

O. Khatib and J. Warren and V. De Sapio and L. Sentis, "Human-Like Motion From Physiologically-Based Potential Energies" , On Advances in Robot Kinematics, 149--163, Kluwer Academic Publishers, J. Lenar&ccaroni&ccaron and C. Galletti, 2004. Bibtex


2003

F. Conti and O. Khatib and C. Baur, "Interactive Rendering of Deformable Objects Based on a Filling Sphere Modeling Approach" , ICRA, 3, 3716--3721, Taipei, Taiwan, Septembter, 2003. Bibtex

A. Bowling and O. Khatib, "Non-Redundant Robotic Manipulator Acceleration Capability and the Actuation Efficiency Measure" , IROS, 4, 3325--3330, Las Vegas, NA, USA, October, 2003. Bibtex

R. Cortesao and J. Park and O. Khatib, "Real-Time Adaptive Control for Haptic Manipulation with Active Observers" , IROS, 3, 2938--2943, Las Vegas, NA, USA, October, 2003. Bibtex

A. Bowling and O. Khatib, "The Dynamic Loading Criteria in Actuator Selection for Desired Dynamic Performance" , ADRO, 17, 7, 641--656, November, 2003. Bibtex

J. Park and R. Cortesão and O. Khatib, "Robust and Adaptive Teleoperation for Compliant Motion Tasks" , ICAR, 513--519, Coimbra, Portugal, June, 2003. Bibtex

F. Conti and F. Barbagli and R. Balaniuk and M. Halg and C. Lu and D. Morris and L. Sentis and E. Vileshin and J. Warren and O. Khatib and J. K. Salisbury., "The CHAI Libraries" , Proc. of EuroHaptics, 496--500, Dublin, Irland, July, 2003. Bibtex

O. Khatib and O. Brock and K.-S. Chang and D. C. Ruspini and L. Sentis and S. Viji, "Robots for the Human and Interactive Simulations" , Proc. of the Eleventh IFToMM World Congress in Mechanism and Machine Science, 1572--1576, Tianjin, China, August, 2003. Bibtex

O. Khatib and O. Brock and K.-S. Chang and D. C. Ruspini and L. Sentis and S. Viji, "Human-Centered Robotics and Interactive Haptic Simulation" , Robotics Research, Springer Tracts in Advanced Robotics, 6, 239--253, Springer, Berlin, Heidelberg, Germany, R. A. Jarvis and A. Zelinsky, 2003. Bibtex

M. Zinn and O. Khatib and B. Roth and J. K. Salisbury, "Actuations Methods for Human-Centered Robotics and Associated Control Challenges" , Control Problems in Robotics, Springer Tracts in Advanced Robotics, 4, 105--120, Springer, Berlin, Heidelberg, Germany, A. Bicchi and H. Christensen and D. Prattichizzo, 2003. Bibtex

M. Zinn and O. Khatib and B. Roth and J. K. Salisbury, "A New Actuation Approach for Human Friendly Robot Design" , Experimental Robotics VIII, Springer Tracts in Advanced Robotics, 5, 113--122, Springer, Berlin, Heidelberg, Germany, B. Siciliano and P. Dario, 2003. Bibtex


2002

A. Bowling and O. Khatib, "Actuator Selection for Desired Dynamic Performance" , IROS, 2, 1966--1973, Lausanne, Switzerland, October, 2002. Bibtex

J. Minguez and L. Montano and O. Khatib, "Reactive Collision Avoidance for Navigation with Dynamic Constraints" , IROS, 1, 588--594, Lausanne, Switzerland, October, 2002. Bibtex

M. Zinn and O. Khatib and B. Roth and J. K. Salisbury, "Towards A Human-Centered Intrinsically-Safe Robotic Manipulator" , Proc. of the Second IARP-IEEE/RAS Joint Workshop on Technical Challenges for Dependable Robots in Human Environments, 588--594, Toulouse, France, October, 2002. Bibtex

O. Khatib, "Human-Centered Robotics and Haptic Interaction: From Assistance to Surgery, the Emerging Applications" , ROMOCO, 137--139, Bukowy, Poland, November, 2002. Bibtex

O. Brock and O. Khatib and S. Viji, "Task-Consistent Obstacle Avoidance for Mobile Manipulation (3 min)" , IVideoCRA, Washington, DC, USA , May, 2002. Bibtex

O. Brock and O. Khatib and S. Viji, "Task-Consistent Obstacle Avoidance and Motion Behavior for Mobile Manipulation" , ICRA, 1, 388--393, Washington, DC, USA, May, 2002. Bibtex

R. Jamisola and M. H. Ang and D.-N. Oetomo and O. Khatib and T.-M. Lim and S.-Y. Lim, "The Operational Space Formulation Implementation to Aircraft Canopy Polishing Using a Mobile Manipulator" , ICRA, 1, 400--405, Washington, DC, USA, May, 2002. Bibtex

O. Khatib and O. Brock and K.-S. Chang and F. Conti and D. C. Ruspini and L. Sentis, "Robotics and Interactive Simulation" , Communications of the ACM, 45, 3, 46--51, March, 2002. Bibtex

D. Oetomo and M. H. Ang and R. Jamisola and O. Khatib, "Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation" , RoManSy, 189--200, Springer, Vienna, Austria, 1998, G. Binachi and J.-P. Guinot and C. Rzymkowski, Udine, Italy, July, 2002. Bibtex

O. Brock and O. Khatib, "Elastic Strips: A Framework for Motion Generation in Human Environments" , IJRR, 21, 12, 1031--1052, December, 2002. Bibtex

O. Khatib and O. Brock and K.-S. Chang and F. Conti and D. C. Ruspini and L. Sentis, "Efficient Algorithms for Robots with Human-Like Structures and Interactive Haptic Simulation" , Advances in Robot Kinematics: Theory and Applications, 89--98, Kluwer Academic Publishers, J. Lenar&ccaroni&ccaron and F. Thomas, 2002. Bibtex

J. Liu and O. Khatib, "Potential Fields and Neural Networks" , The Handbook of Brain Theory and Neural Networks, 901--910, The MIT Press, Cambridge, MA, USA, M. A. Arbib, 2002. Bibtex


2001

N. Turro and O. Khatib and E. Coste-Maniere, "Haptically Augmented Teleoperation" , ICRA, 1, 386--392, Seoul, South Korea, May, 2001. Bibtex

O. Khatib, "Digital Interactivity: Human-Centered Robotics, Haptics, and Simulation" , Proc. of the 6th International Computer Science Conference on Active Media Technology, 4, Springer-Verlag, Hong Kong, China, December, 2001. Bibtex

D. C. Ruspini and O. Khatib, "Haptic Display for Human Interaction with Virtual Dynamic Environments" , JRS, Special Issue on Biorobotics and Humanoid Robotics, 18, 12, 769--783, December, 2001. Bibtex

K.-S. Chang and O. Khatib, "Efficient Recursive Algorithm for the Operational Space Inertia Matrix of Branching Mechanisms" , ADRO, 14, 8, 703--715, 2001. Bibtex

O. Khatib and K. Yokoi and O. Brock and K. Chang and A. Casal, "Robots in Human Environments" , Archives of Control Sciences, Special Issue on Recent Developments in Robotics, Part I, 11, 3--4, 123--138, 2001. Bibtex

D. C. Ruspini and O. Khatib, "Simulation with Contact for Haptic Interaction" , Touch in Virtual Environments, 32--46, Prentice-Hall, Upper Saddle River, NJ, USA, M. McLaughlin and J. P. Hespanha and G. S. Sukhatme, 2001. Bibtex


2000

D. C. Ruspini and O. Khatib, "A Framework for Multi-Contact Multi-Body Dynamic Simulation and Haptic Display" , IROS, 2, 1322--1327, Takamatsu, Japan, October, 2000. Bibtex

R. Holmberg and O. Khatib, "Development and Control of a Holonomic Mobile Robot for Mobile Manipulation Tasks" , IJRR, 19, 11, 1066--1074, November, 2000. Bibtex

D. C. Ruspini and O. Khatib, "A Framework for Multi-Contact Multi-Body Dynamic Simulation and Haptic Display" , Proc. of the International Symposium on Advances in Robot Kinematics, 175--186, J. Lenar&ccaroni&ccaron and M. M. Stanisic, Piran, Slovenia, June, 2000. Bibtex

R. Holmberg and O. Khatib, "A Powered-Caster Holonomic Robotic Vehicle for Mobile Manipulation Tasks" , RoManSy, 157--167, Springer, Vienna, Austria, 1998, A. Morecki and G. Binachi and C. Rzymkowski, Zakopane, Poland, July, 2000. Bibtex

O. Brock and O. Khatib, "Integrated Planning and Execution: Elastic Strips" , Proc. of the World Automation Congress, ISORA-025, Maui, HI, USA, December, 2000. Bibtex

O. Khatib, "Robots in Human Environments" , Proc. of the International Conference on Control, Automation, Robotics, and Vision, 454--457, Singapore, December, 2000. Bibtex

N. Turro and O. Khatib, "Haptically Augmented Teleoperation" , Experimental Robotics VII, ISER, 1--10, Springer-Verlag, Berlin, Heidelberg, Germany, 2000, D. Rus and S. Singh, Waikiki, HI, USA, December, 2000. Bibtex

A. Bowling and O. Khatib, "Robot Acceleration Capability: The Actuation Efficiency Measure" , ICRA, 4, 3970--3975, San Francisco, CA, USA, April, 2000. Bibtex

O. Brock and O. Khatib, "High-Speed Navigation Using the Global Dynamic Window Approach (2.5 min)" , IVideoCRA, San Francisco, CA, USA, April, 2000. Bibtex

O. Brock and O. Khatib, "Real-Time Replanning in High-Dimensional Configuration Spaces Using Sets of Homotopic Paths" , ICRA, 1, 550--555, San Francisco, CA, USA, April, 2000. Bibtex

H. Bruyninckx and O. Khatib, "Gauss Principle and the Dynamics of Redundant and Constrained Manipulators" , ICRA, 3, 2563--2568, San Francisco, CA, USA, April, 2000. Bibtex

K.-S. Chang and R. Holmberg and O. Khatib, "The Augmented Object Model: Cooperative Manipulation and Parallel Mechanism Dynamics" , ICRA, 1, 470--475, San Francisco, CA, USA, April, 2000. Bibtex

K.-S. Chang and O. Khatib, "Operational Space Dynamics: Efficient Algorithms for Modeling and Control of Branching Mechanisms" , ICRA, 1, 850--856, San Francisco, CA, USA, April, 2000. Bibtex


1999

K. C. Chang and O. Khatib, "Efficient Algorithm for Extended Operational Space Inertia Matrix" , IROS, 1, 350--355, Kyongju, South Korea, October, 1999. Bibtex

R. Jamisola and M. H. Ang and T. M. Lim and O. Khatib and S.-Y. Lim, "Dynamics Identification and Control of an Industrial Robot" , ICAR, 323--328, Tokyo, Japan, October, 1999. Bibtex

D. C. Ruspini and O. Khatib, "Collision/Contact Models for Dynamic Simulation and Haptic Interaction" , ISRR, 185--194, Springer, London, UK, 2000, J. Hollerbach and D. E. Koditschek, Snowbird, UT, USA, October, 1999. Bibtex

O. Brock, "Generation of Robot Motion: The Integration of Planning and Execution" , November, 1999. Bibtex

O. Brock and O. Khatib, "High-Speed Navigation Using the Global Dynamic Window Approach" , ICRA, 1, 341--346, Detroit, MI, USA, May, 1999. Bibtex

R. Featherstone and S. Sonck Thiebaut and O. Khatib, "A General Contact Model for Dynamically-Decoupled Force/Motion Control" , ICRA, 4, 3281--3286, Detroit, MI, USA, May, 1999. Bibtex

O. Khatib, "The Stanford Robotics Platforms" , Proc. of the First Asian Symposium on Industrial Automation and Robotics, 1--4, Bangkok, Thailand, May, 1999. Bibtex

O. Khatib and O. Brock and K. Yokoi and R. Holmberg, "Dancing with Juliet (2.5 min)" , IVideoCRA, Detroit, MI, USA, May, 1999. Bibtex

M. Van Der Loos and J. J. Wagner and N. Smaby and K. Chang and O. Madrigal and L. J. Leifer and O. Khatib, "ProVAR Assistive Robot System Architecture" , ICRA, 1, 741--746, Detroit, MI, USA, May, 1999. Bibtex

O. Brock and O. Khatib, "Elastic Strips: A Framework for Integrated Planning and Execution" , Experimental Robotics VI, ISER, 329--338, Springer-Verlag, Berlin, Heidelberg, Germany, 2000, P. I. Corke and J. P. Trevelyan, Sydney, Australia, March, 1999. Bibtex

E. Coste-Maniere and N. Turro and O. Khatib, "A Portable Programming Framework" , Experimental Robotics VI, ISER, 379--389, Springer-Verlag, Berlin, Heidelberg, Germany, 2000, P. I. Corke and J. P. Trevelyan, Sydney, Australia, March, 1999. Bibtex

O. Khatib and K. Yokoi and O. Brock and K. Chang and A. Casal, "Robots in Human Environments" , ROMOCO, 213--221, Kiekrz, Poland, June,, 1999. Bibtex

D. C. Ruspini and O. Khatib, "Haptics for Virtual Prototyping" , Proc. of the Tenth IFToMM World Congress on the Theory of Machines and Mechanisms, 3, 924--929, Oulu, Finland, June, 1999. Bibtex

O. Brock and O. Khatib, "Real-Time Obstacle Avoidance and Motion Coordination in a Multi-Robot Workcell" , ISATP, 274--279, Porto, Portugal, July, 1999. Bibtex

O. Khatib and K. Yokoi and O. Brock and K. Chang and A. Casal, "Robots in Human Environments: Basic Autonomous Capabilities" , IJRR, 18, 7, 684--696, July, 1999. Bibtex

O. Khatib, "Mobile Manipulation: The Robotic Assistant" , Journal of Robotics and Autonomous Systems, 26, 175--183, February, 1999. Bibtex

R. Holmberg and O. Khatib, "Development of a Holonomic Mobile Robot for Mobile Manipulation Tasks" , Proc. of the International Conference on Field and Service Robotics, 268--273, Pittsburgh, PA, USA, August, 1999. Bibtex

D. C. Ruspini and O. Khatib, "Haptics for Virtual Prototyping" , Recent Advances in Mechatronics, 294--303, Springer-Verlag Berlin, Heidelberg, Germany, O. Kaynak and S. Tosunoglu and M. Ang, 1999. Bibtex


1998

A. Bowling and O. Khatib, "The Motion Isotropy Hypersurface: A Characterization of Acceleration" , IROS, 2, 965--971, Victoria, BC, Canada, October, 1998. Bibtex

O. Khatib and K. Yokoi and O. Brock and K. Chang and A. Casal, "Robots in Human Environment: Basic Autonomous Capabilities" , Proc. of the IARP First International Workshop on Humanoid and Human-Friendly Robotics, III-2:1-11, Tsukuba, Japan, October, 1998. Bibtex

D. C. Ruspini and O. Khatib, "Haptics for Multi-Scale Virtual Prototyping" , Proc. of the Second International Workshop on Micro Robotics and Systems, 172--179, Beijing, China, October, 1998. Bibtex

O. Brock and O. Khatib, "Executing Motion Plans for Robots with Many Degrees of Freedom in Dynamic Environments" , ICRA, 1, 1--6, Leuven, Belgium, May, 1998. Bibtex

O. Khatib and K. Yokoi and A. Casal, "Cooperative Tasks in Mobile Manipulation Systems" , Proc. of the IFAC Workshop on Intelligent Components for Vehicles, 245--250, A. Ollero, Seville, Spain, March, 1998. Bibtex

D. C. Ruspini and O. Khatib, "Dynamic Models for Haptic Rendering Systems" , Proc. of the International Symposium on Advances in Robot Kinematics, 523--532, Strobl/Salzburg, Austria, June,, 1998. Bibtex

A. Bowling and O. Khatib, "Modular Redundant Manipulator Design for Dynamic Performance" , RoManSy, 297--307, Springer, Vienna, Austria, 1998, A. Morecki and G. Binachi and M. Wojtyra, Paris, France, July, 1998. Bibtex

V. J. Mooney and D. C. Ruspini and O. Khatib and G. De Micheli, "Hardware- Software Run-Time Systems and Robotics: A Case Study" , Proc. of the Euromicro Conference, 1, 162--167, Västeras, Sweden, August, 1998. Bibtex

O. Brock and O. Khatib, "Mobile Manipulation: Collision-Free Path Modification and Motion Coordination" , Proc. of the Second International Conference on Computational Engineering in Systems Applications, 839--845, Hammamet, Tunisia, April, 1998. Bibtex

O. Khatib, "Mobile Manipulator System" , Autonomous Robotic Systems, 141--148, Springer-Verlag Berlin, Heidelberg, Germany, A. T. De Almeida and O. Khatib, 1998. Bibtex

"Autonomous Robotic Systems" , Springer, Berlin, Heidelberg, Germany, A. T. De Almeida and O. Khatib, 1998. Bibtex


1997

D. C. Ruspini and K. Kolarov and O. Khatib, "Haptic Interaction in Virtual Environments" , IROS, 1, 128--133, Grenoble, France, Septembter, 1997. Bibtex

O. Brock and O. Khatib, "Elastic Strips: Real-Time Path Modification for Mobile Manipulation" , ISRR, 5--13, Springer, Berlin, Heidelberg, Germany, 1998, Y. Shirai and S. Hirose, Hayama, Japan, October, 1997. Bibtex

D. C. Ruspini, "Adding Motion to Constraint Based Haptic Rendering Systems: Issues and Solutions" , Proc. of the Second PHANToM Users Group Workshop, 453--460, Dedham, MA, USA, October, 1997. Bibtex

R. Featherstone and S. Sonck and O. Khatib, "A General Contact Model for Dynamically-Decoupled Force/Motion Control" , Experimental Robotics V, ISER, 128--139, Springer-Verlag, Berlin, Heidelberg, Germany, 1998, A. Casals and A. T. de Almeida, Barelona, Catalonia, Spain, June,, 1997. Bibtex

J. Liu and Y. Y. Tang and O. Khatib, "Modeling and Learning Robot Manipulation Strategies" , Experimental Robotics V, ISER, 687--700, Springer-Verlag, Berlin, Heidelberg, Germany, 1998, A. Casals and A. T. de Almeida, Barelona, Catalonia, Spain, June,, 1997. Bibtex

O. Khatib, "Mobile Robotic Manipulation" , Proc. of the International Conference on Informatics and Control, 33--39, St. Petersburg, Russia, June, 1997. Bibtex

A. Bowling and O. Khatib, "Design of Non-Redundant Manipulators for Optimal Dynamic Performance" , ICAR, 865--872, Monterey, CA, USA, July, 1997. Bibtex

J. Liu and Y. Y. Tang and O. Khatib, "Robot Learning and Planning Based on Discrete-Event Systems Models" , Proc. of the Workshop on Intelligent Robotics: From the Structured to Less Structured Environments, 57--62, Hong Kong, July, 1997. Bibtex

O. Khatib, "Mobile Manipulators: Expending the Frontiers of Robot Applications" , Proc. of the International Conference on Field and Service Robotics, 14--17, Canberra, Australia, December, 1997. Bibtex

D. C. Ruspini and K. Kolarov and O. Khatib, "The Haptic Display of Complex Graphical Environments" , Proc. of the 24th Annual Conference on Computer Graphics and Interactive Techniques, 345--352, ACM Press/Addison-Wesley Publishing Co., New York, NY, USA, Los Angeles, CA, USA, August, 1997. Bibtex

A. Bowling and O. Khatib, "Design of Macro/Mini Manipulators for Optimal Dynamic Performance" , ICRA, 1, 449--454, Albuquerque, NM, USA, April, 1997. Bibtex

R. Featherstone and O. Khatib, "Load-Independence of the Dynamically-Consistent Inverse of the Jacobian Matrix" , IJRR, 16, 2, 168--170, April, 1997. Bibtex

O. Khatib and K. Yokoi and K. Chang and A. Casal, "The Stanford Robotic Platforms (2.5 min)" , IVideoCRA, Albuquerque, NM, USA, April, 1997. Bibtex

O. Khatib and S. Quinlan and D. Williams, "Robot Planning and Control" , Journal of Robotics and Autonomous Systems, 16, 3, 249--261, 1997. Bibtex


1996

D. C. Ruspini, "Graphical and Haptic Manipulation of 3D Objects" , Proc. of the First PHANToM Users Group Workshop, 453--460, Dedham, MA, USA, Septembter, 1996. Bibtex

O. Khatib and K. Yokoi and K. Chang and D. C. Ruspini and R. Holmberg and A. Casal, "Vehicle/Arm Coordination and Multiple Mobile Manipulator Decentralized Cooperation" , IROS, 2, 546--553, Osaka, Japan, November, 1996. Bibtex

O. Khatib and K. Yokoi and K. Chang and D. C. Ruspini and R. Holmberg and A. Casal, "Decentralized Cooperation Between Multiple Manipulators" , Proc. of the Fith IEEE International Workshop on Robot and Human Communication, 183--188, Tsukuba, Japan, November, 1996. Bibtex

O. Khatib and K. Yokoi and K. Chang and D. C. Ruspini and R. Holmberg and A. Casal, "Cooperative Tasks in Multiple Mobile Manipulation Systems" , Proc. of the Sixth International Symposium on Robotics and Manufacturing, 345--350, Montpellier, France, May, 1996. Bibtex

O. Khatib and A. Bowling, "Manipulator Design for Dynamic Performance" , Proc. of the International Symposium on Advances in Robot Kinematics, 29--38, Portoroz, Slovenia, June, 1996. Bibtex

O. Khatib, "Mobile Manipulator Systems" , RoManSy, 3--10, Springer, Vienna, Austria, 1995, A. Morecki and G. Binachi and C. Rzymkowski, Udine, Italy, July, 1996. Bibtex

D. Williams and O. Khatib, "Wrist Force Sensor Feedback for Improved Actuation Performance in Conventional Arms" , Proc. of the 13th IFAC World Congress, 19--24, San Francisco, CA, USA, July, 1996. Bibtex

Y. Abdel-Magid and O. Khatib, "Design of Digital Adaptive Algorithm for Torque-Controlled Robotic Joints" , Proc. of the Sixth International Conference on Mechanical Design and Production, 461--468, Cairo, Egypt, January, 1996. Bibtex

D. C. Ruspini and K. Kolarov and O. Khatib, "The Robust Haptic Display of Graphical Environments" , Proc. of the First PHANToM Users Group Workshop, AI Lab Technical Report No. 1596 and RLE Technical Report No. 612, J. K. Salisbury and M. A. Srinivasan, Cambridge, MA, USA, December, 1996. Bibtex

O. Khatib, "The Impact of Redundancy on the Dynamic Performance of Robots" , http://www3.interscience.wiley.com/journal/37416/home, 8, 1, 37--48, August, 1996. Bibtex

O. Khatib and A. Bowling, "Optimization of the Inertial and Acceleration Characteristics of Manipulators" , ICRA, 4, 2883--2889, Minneapolis, MN, USA, April, 1996. Bibtex

O. Khatib and K. Yokoi and K. Chang and D. C. Ruspini and R. Holmberg and A. Casal and A. Baader, "The Robotic Assistant (2.5 min)" , IVideoCRA, Minneapolis, MN, USA, April, 1996. Bibtex

J. Russakow and S. Rock and O. Khatib, "An Operational Space Formulation for Free-Flying, Multi-Arm Space Robot (3 min)" , IVideoCRA, Minneapolis, MN, USA, April, 1996. Bibtex

O. Khatib and K. Yokoi and K. Chang and D. C. Ruspini and R. Holmberg and A. Casal, "Coordination and Decentralized Cooperation of Multiple Mobile Manipulators" , JRS, 13, 11, 755--764, 1996. Bibtex

"Experimental Robotics IV" , Springer, Berlin, Heidelberg, Germany, O. Khatib and J. K. Salisbury, 1996. Bibtex


1995

O. Khatib, "Mobile Robotic Manipulation" , Proc. 26th Int. Symposium on Industrial Robotics, 7--12, Singapore, October, 1995. Bibtex

O. Khatib, "Robot Planning and Control" , Proc. of the International Workshop on Critical Issues in Robotics, 65--80, Singapore, October, 1995. Bibtex

O. Khatib and A. Bowling, "Optimization of the Inertial and Acceleration Characteristics of Non-Redundant Manipulators" , Proc. of the Third Conference on Mechatronics and Robotics, 500--510, Paderborn, Germany, October, 1995. Bibtex

O. Khatib and K. Yokoi and K. Chang and D. C. Ruspini and R. Holmberg and A. Casal and A. Baader, "Force Strategies for Cooperative Tasks in Multiple Mobile Manipulation Systems" , ISRR, 333--342, Springer, Berlin, Heidelberg, Germany, 1996, G. Giralt and G. Hirzinger, Herrsching, Germany, October, 1995. Bibtex

J. Russakow and O. Khatib and S. Rock, "Extended Operational Space Formulation for Serial-to-Parallel Chain (Branching) Manipulators" , ICRA, 1, 1056--1061, Nagoya, Japan, May, 1995. Bibtex

D. Williams and O. Khatib, "Multi-Grasp Manipulation (3 min)" , IVideoCRA, Nagoya, Japan, May, 1995. Bibtex

J. Russakow and S. Rock and O. Khatib, "An Operational Space Formulation for Free-Flying, Multi-Arm Space Robot (3 min)" , IVideoSER, O. Khatib and J. K. Salisbury, Stanford, CA, USA, June,, 1995. Bibtex

J. Russakow and S. Rock and O. Khatib, "An Operational Space Formulation for Free-Flying, Multi-Arm Space Robot" , Experimental Robotics IV, ISER, 448--457, Springer-Verlag, Berlin, Heidelberg, Germany, 1997, O. Khatib and J. K. Salisbury, Stanford, CA, USA, June,, 1995. Bibtex

D. Williams and O. Khatib, "Improved Force Control for Conventional Arms Using Wrist-Based Torque Feedback (3 min)" , IVideoSER, O. Khatib and J. K. Salisbury, Stanford, CA, USA, June,, 1995. Bibtex

D. Williams and O. Khatib, "Improved Force Control for Conventional Arms Using Wrist-Based Torque Feedback" , Experimental Robotics IV, ISER, 516--525, Springer-Verlag, Berlin, Heidelberg, Germany, 1997, O. Khatib and J. K. Salisbury, Stanford, CA, USA, June,, 1995. Bibtex

O. Khatib, "Inertial Properties in Robotics Manipulation: An Object-Level Framework" , IJRR, 14, 1, 19--36, February, 1995. Bibtex

A. Bowling and O. Khatib, "Analysis of the Acceleration Characteristics of Non-Redundant Manipulators" , IROS, 2, 323--328, Pittsburgh, PA, USA, August, 1995. Bibtex

K. Chang and O. Khatib, "Manipulator Control at Kinematic Singularities: A Dynamically Consistent Strategy" , IROS, 3, 84--88, Pittsburgh, PA, USA, August, 1995. Bibtex

O. Khatib, "Sensor-Based Control of Robots" , Proc. of the International Conference on Recent Advances in Mechatronics, 1120--1125, Istanbul, Turkey, August, 1995. Bibtex

O. Khatib, "Cooperative Manipulation in Mobile Robotic Systems" , Proc. of the Ninth IFToMM World Congress on the Theory of Machines and Mechanisms, 3, 2343--2347, Milan, Italy, August, 1995. Bibtex

D. Vischer and O. Khatib, "Design and Development of High Performance Torque Controlled Joints" , TransRA, 11, 4, 537--544, August, 1995. Bibtex


1994

A. Bowling and O. Khatib, "Analysis of the Acceleration Characteristics of Manipulators" , RoManSy, 59--64, Springer, Vienna, Austria, 1995, A. Morecki and G. Binachi and K. Jaworek, Gdansk, Poland, Septembter, 1994. Bibtex

O. Khatib, "Towards Integrated Planning and Control" , Proc. of the Fourth IFAC Symposium on Robot Control, 351--360, Capri, Italy, Septembter, 1994. Bibtex

O. Khatib, "Sensor-Based Robotic Manipulation" , Proc. of the Secondnd Japan-France Congress on Mechatronics, 193--198, Takamatsu, Japan, November, 1994. Bibtex

O. Khatib, "Cooperative Mobile Robotic Manipulation" , Proc. of the International Conference on Robotics, Vision and Parallel Processing for Industrial Automation, 371--377, Perak, Malaysia, May, 1994. Bibtex

P. U. Lee and D. C. Ruspini and O. Khatib, "Dynamic Simulation of Interactive Robotic Environment" , ICRA, 2, 1147--1152, San Diego, CA, USA, May, 1994. Bibtex

H. Arai and O. Khatib, "Experiments with Dynamic Skills" , Proc. of the Japan-USA Symposium on Flexible Automation, 81--84, Kyoto, Japan, July, 1994. Bibtex

J. Woodfill, R. Zabih, and O. Khatib, "Real-time Motion Vision for Robot Control in Unstructured Environments" , Proc. of the ASCE Conference on Robotics in Challenging Environments, 10--18, ASCE, New York, NY, USA, L. A. Demsetz and P. R. Klarer, Albuquerque, NM, USA, February, 1994. Bibtex

D. Williams and O. Khatib, "Modeling and Control of Internal Force Dynamics in Multi-Grasp Manipulation" , Proc. of the Fifth International Symposium on Robotics and Manufacturing, 5, 735--741, ASME Press, New York, NY, USA, M. Jamshidl and C. Nauyen and R. Lumia and J. Yuh, Maui, HI, USA, August, 1994. Bibtex

K.-S. Chang and O. Khatib, "Dynamically Consistent Strategy for Manipulator Control at Singularities" , Proc. of the International Symposium on Advances in Robot Kinematics, 221--228, Kluwer Academic Publishers, J. Lenar&ccaroni&ccaron and B. Ravani, Ljubljana, Slovenia, 1994. Bibtex

O. Khatib, "A Framework for Task-Level Robotics Manipulation" , ISRR, 287--304, The MIT Press, Cambridge, MA, USA, T. Kanade and R. Paul, 1994. Bibtex

O. Khatib and D. Williams and S. Quinlan and D. C. Ruspini and R. Holmberg and K. Chang and R. Zabih, "Robotic Manipulation (23 min)" , Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, Stanford, CA, USA, 1994. Bibtex


1993

D. Williams and O. Khatib, "Experiments in Multi-Grasp Manipulation (3 min)" , IVideoSER, T. Yoshikawa and F. Miyazaki, Kyoto, Japan, October, 1993. Bibtex

D. Williams and O. Khatib, "Towards Real-Time Execution of Motion Tasks" , Experimental Robotics III, ISER, 14--28, Springer-Verlag, Berlin, Heidelberg, Germany, 1994, T. Yoshikawa and F. Miyazaki, Kyoto, Japan, October, 1993. Bibtex

S. Quinlan and O. Khatib, "Elastic Bands: Connecting Path Planning and Control" , ICRA, 2, 802--807, Atlanta, GA, USA, May, 1993. Bibtex

D. Williams and O. Khatib, "The Virtual Linkage: A Model for Internal Forces in Multi-Grasp Manipulation" , ICRA, 1, 1025--1030, Atlanta, GA, USA, May, 1993. Bibtex

O. Khatib, "A Framework for Task-Level Robotics Manipulation (3 min)" , IVideoSER, T. Kanade and R. Paul, Hidden Valley, PA, USA, 1993. Bibtex

O. Khatib, "A Unified Approach to Motion and Force Control of Robot Manipulators: The Operational Space Formulation" , Robot Control: Dynamics, Motion Planning and Analysis, 277--287, IEEE Computer Society Press, M. W. Spong and F. L. Lewis and C. T. Abdallah, 1993. Bibtex

O. Khatib, "A Task-Level Framework for Robotics Manipulation" , Proc. of the Second Conference on Mechatronics and Robotics, 201--216, Duisburg/Moers, Germany, 1993. Bibtex

O. Khatib, "Mobile Robotic Manipulation" , Proc. of the GMA Conference, 51--66, Langen, Germany, 1993. Bibtex

O. Khatib, "The Operational Space Framework" , JSME International Journal. Ser. C: Dynamics, Control, Robotics, Design and Manufacturing, 36, 3, 277--287, The Japan Society of Mechanical Engineers, 1993. Bibtex

S. Quinlan and O. Khatib, "Towards Real-Time Execution of Motion Tasks (3 min)" , Video Proc. of Experimental Robotics I and II: Int. Symposia on Experimental Robotics, O. Khatib and V. Hayward and R. Chatila, 1993. Bibtex

D. Vischer and O. Khatib, "Design and Development of Torque-Controlled Joints (3 min)" , Video Proc. of Experimental Robotics I and II: Int. Symposia on Experimental Robotics, O. Khatib and V. Hayward and R. Chatila, 1993. Bibtex

"Video Proc. of Experimental Robotics I and II: Int. Symposia on Experimental Robotics (62 min)" , O. Khatib and V. Hayward and R. Chatila, 1993. Bibtex


1992

J. Russakow and O. Khatib, "A New Control Structure for Free-Flying Space Robots" , Proc. of the International Symposium on Artificial Intelligence, Robotics and Automation in Space, 2, 395--403, Toulouse, France, October, 1992. Bibtex

D. Williams and O. Khatib, "Characterization of Internal Forces in Multi-Grasp Manipulation" , Proc. of the International Symposium on Measurement and Control in Robotics, 731--738, Tokyo, Japan, November, 1992. Bibtex

O. Khatib, "Inertial Properties in Robotics Manipulation" , STAN-CS-92-1457, December, 1992. Bibtex

R. Holmberg and S. Dickert and O. Khatib, "A New Actuation System for High-Performance Torque-Controlled Manipulators" , RoManSy, 285--292, Springer, London, UK, A. Morecki and G. Binachi and K. Jaworek, Udine, Italy, 1992. Bibtex

"The Robotics Review 2" , The MIT Press, Cambridge, MA, USA, O. Khatib and J. Craig and T. Lozano-Pèrez,, 1992. Bibtex


1991

J. Woodfill, R. Zabih, "Using Motion Vision for a Simple Robotic Task" , Proc. of the AAAI Fall Symposium on Sensory Aspects of Robotic Intelligence, 162--165, Asilomar, CA, USA, November, 1991. Bibtex

O. Khatib and B. Roth, "New Robot Mechanisms for New Robot Capabilities" , IROS, 1, 44--49, Osaka, Japan, November, 1991. Bibtex

D. Quinlan and O. Khatib, "Towards Real-Time Execution of Motion Tasks" , Experimental Robotics II, ISER, 241--254, Springer-Verlag, Berlin, Heidelberg, Germany, 1993, R. Chatila and G. Hirzinger, Toulouse, France, June,, 1991. Bibtex

O. Khatib, "Towards a New Generation of Force-Controlled Robot Manipulators" , Proc. of ORIA'91: Telerobotics in Hostile Environments, 44--49, Marseille, France, December, 1991. Bibtex

O. Khatib and B. Roth and K. Waldron, "The Design of a High-Performance Force-Controlled Manipulator" , Proc. of the IFToMM World Congress on the Theory of Machines and Mechanisms, 2, 475--478, Prague, Czechoslovakia, August, 1991. Bibtex

O. Khatib, "Real-Time Obstacle Avoidance for Manipulators and Mobile Robots" , Autonomous Mobile Robots: Perception, Mapping, and Navigation, 1, 428--436, IEEE Computer Society Press, S. S. Iyengar and A. Elfes, 1991. Bibtex


1990

O. Khatib, "Motion/Force Redundancy of Manipulators" , Proc. of the Japan-USA Symposium on Flexible Automation, 1, 337--342, Kyoto, Japan, July, 1990. Bibtex

D. Vischer and O. Khatib, "Performance Evaluation of Force/Torque Feedback Control Methodologies" , RoManSy, 186--193, A. Morecki and G. Binachi and K. Jaworek, Cracow, Poland, July, 1990. Bibtex

O. Khatib, "Object Level Manipulation" , Proc. of the IEEE International Workshop on Intelligent Motron Control, 497--502, O. Kaynak, Istanbul, Turkey, August, 1990. Bibtex

O. Khatib, "Real-Time Obstacle Avoidance for Manipulators and Mobile Robots" , Autonomous Robot Vehicles, 396--404, Springer-Verlag Berlin, Heidelberg, Germany, I. Cox and G. Wilfong, 1990. Bibtex

O. Khatib, "Reduced Effective Inertia in Macro-/Mini-Manipulator Systems" , ISRR, 279--284, The MIT Press, Cambridge, MA, USA, H. Miura and S. Arimoto, 1990. Bibtex

"Experimental Robotics I" , Springer, Berlin, Heidelberg, Germany, V. Hayward and O. Khatib, 1990. Bibtex


1989

O. Khatib and S. Agrawal, "Isotropic and Uniform Inertial and Acceleration Characteristics: Issues in the Design of Manipulators" , Dynamics of Controlled Mechanical Systems, 258--270, Springer-Verlag, Berlin, Germany, G. Schweitzer and M. Mansour, Zürich, Switzerland, May, 1989. Bibtex

D. Vischer and O. Khatib, "Design and Development of Torque-Controlled Joints" , Experimental Robotics I, ISER, 271--286, Springer-Verlag, Berlin, Germany, 1990, V. Hayward and O. Khatib, Montrèal, Canada, June,, 1989. Bibtex

L. Pfeffer and O. Khatib and J. Hake, "Joint Torque Sensory Feedback in the Control of a PUMA Manipulator" , TransRA, 5, 4, 418--425, August, 1989. Bibtex

"The Robotics Review 1" , The MIT Press, Cambridge, MA, USA, O. Khatib and J. Craig and T. Lozano-Pèrez,, 1989. Bibtex


1988

O. Khatib, "Inertial Characteristics and Dextrous Dynamic Coordination of Macro/Micro-Manipulator Systems" , RoManSy, 131--139, Hermes, Paris, France, A. Morecki and G. Binachi and K. Jaworek, Udine, Italy, Septembter, 1988. Bibtex

O. Khatib, "Force-Based Motion Control of Robot Manipulators" , Proc. of the International Meeting on Advances in Robot Kinematics, 176--180, Ljubljana, Yugoslavia, Septembter, 1988. Bibtex

B. Roth and M. Raghavan and O. Khatib and K. Waldron, "Kinematic Structure for a Force Controlled Redundant Manipulator" , Proc. of the International Meeting on Advances in Robot Kinematics, 62--66, Ljubljana, Yugoslavia, Septembter, 1988. Bibtex

O. Khatib, "Object Manipulation in a Multi-Effector Robot System" , ISRR, 137--144, The MIT Press, Cambridge, MA, USA, R. Bolles and B. Roth, Santa Cruz, CA, USA, May, 1988. Bibtex

O. Khatib, "The Augmented Object and Reduced Effective Inertia in Robot Systems" , ACC, 3, 2140--2147, Atlanta, GA, USA, June,, 1988. Bibtex

O. Khatib, "Dynamic Control of Multi-Structure Robot Systems at the Manipulated Object Level" , Current Advances in Mechanical Design and Production IV, 433--440, Pergamon Press, Oxford, UK, Y. Kabil and M. Said, Cairo, Egypt, December, 1988. Bibtex

S. Shekhar and O. Khatib and M. Shimojo, "Object Localization with Multiple Sensors" , IJRR, 7, 6, 34--44, December, 1988. Bibtex

J. J. Slotine and O. Khatib and D. Ruth, "Robust Control in Operational Space for Goal Positioned Manipulator Tasks" , The International Journal of Robotics and Automation, 3, 1, 28--34, 1988. Bibtex


1987

O. Khatib and J. Burdick, "Force Control of Robot Manipulators" , Proc. of the Seventh IFToMM Congress on the Theory of Machines and Mechanisms, 2, 1213--1218, Pergamon Press, Oxford, UK, Seville, Spain, Septembter, 1987. Bibtex

J. J. Slotine and O. Khatib and D. Ruth, "Robust Operational Space Control for Goal Positioned Manipulator Tasks" , ICAR, 503--512, IFS/Springer-Verlag, Versailles, France, October, 1987. Bibtex

O. Khatib, "A Unified Approach for Motion and Force Control of Robot Manipulators: The Operational Space Formulation" , IEEE Journal of Robotics and Automation, RA-3, 1, 43--53, February, 1987. Bibtex

S. Shekhar and O. Khatib, "Force Strategies in Real-Time Fine Motion Assembly" , Proc. of the ASME Winter Annual Meeting, 169--176, Boston, MA, USA, December, 1987. Bibtex

J. Burdick and R. Fearing and O. Khatib and L. Pfeffer and S. Shekhar, "Sensor-Based Robot Control (10 min)" , Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, Stanford, CA, USA, 1987. Bibtex

O. Khatib and J. Burdick, "Optimization of Dynamics in Manipulator Design: The Operational Space Formulation" , The International Journal of Robotics and Automation, 2, 2, 90--98, 1987. Bibtex


1986

O. Khatib, "Real-Time Obstacle Avoidance for Manipulators and Mobile Robots" , IJRR, 5, 1, 90--98, Spring, 1986. Bibtex

O. Khatib, "Robot Manipulator Control in Operational Space" , Proc. of the CNRS Symposium on Mathematical Tools for Modeling and Control of Robots, 367--391, The MIT Press, Cambridge, MA, USA, Paris, France, Septembter, 1986. Bibtex

O. Khatib, "Redundant Manipulators and Kinematic Singularities: The Operational Space Approach" , RoManSy, 131--138, The MIT Press, Cambridge, MA, USA, A. Morecki and G. Binachi and K. Kedzior, November, 1986. Bibtex

L. Pfeffer and O. Khatib and J. Hake, "Joint Torque Sensory Feedback in the Control of a PUMA Manipulator" , ACC, 2, 818--824, Seattle, WA, USA, June, 1986. Bibtex

O. Khatib, "Constrained Motion and Redundancy in Robot Manipulator Control" , Proc. of the Japan-USA Symposium on Flexible Automation, 93--98, Osaka, Japan, July, 1986. Bibtex

O. Khatib, "The Operational Space Formulation in the Analysis, Design, and Control of Manipulators" , ISRR, 261--270, The MIT Press, Cambridge, MA, USA, O. Faugeras and G. Giralt, Gouvieux-Chantilly, France, December, 1986. Bibtex

B. Armstrong and O. Khatib and J. Burdick, "The Explicit Dynamic Model and Inertial Parameters of the PUMA 560 Arm" , ICRA, 1, 510--518, San Francisco, CA, USA, April, 1986. Bibtex

O. Khatib and J. Burdick, "Motion and Force Control of Robot Manipulators" , ICRA, 3, 1381--1386, San Francisco, CA, USA, April, 1986. Bibtex

S. Shekhar and O. Khatib and M. Shimojo, "Sensor Fusion and Object Localization" , ICRA, 3, 1623--1628, San Francisco, CA, USA, April, 1986. Bibtex

O. Khatib, "The Potential Field Approach and Operational Space Formulation in Robot Control" , Adaptive and Learning Systems: Theory and Applications, 367--377, Plenum Press, New York, NY, USA, K. S. Narendra, 1986. Bibtex

O. Khatib and J. Burdick, "Active Force Control (5 min)" , Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, Stanford, CA, USA, 1986. Bibtex


1985

O. Khatib, "The Operational Space Formulation in Robot Manipulator Control" , Proc. of the 15th International Symposium on Industrial Robots, 165--172, Tokyo, Japan, Septembter, 1985. Bibtex

O. Khatib and J. Burdick, "Dynamic Optimization in Manipulator Design: The Operational Space Formulation" , ASME Winter Annual Meeting, PED-Volume 15, 169--174, M. Donath and M. Leu, Miami, FL, USA, November, 1985. Bibtex

O. Khatib, "The Potential Field Approach and Operational Space Formulation in Robot Control" , Proc. of the 4th Yale Workshop on Applications of Adaptive Systems Theory, 208--214, Yale University, New Haven, CT, USA, May, 1985. Bibtex

O. Khatib, "Real-Time Obstacle Avoidance for Manipulators and Mobile Robots" , ICRA, 500--505, St. Louis, MO, USA, March, 1985. Bibtex

J. Burdick and O. Khatib, "Force Control Research at Stanford" , 7 (Intelligent Task Automation Interim Report), 6/33--6/42, April, 1985. Bibtex


1984

O. Khatib, "Real-Time Control of Manipulators in Operational Space" , Proc. of the 28th Annual Stanford Conference of the American Society for Quality Control, 9/1--9/7, Palo Alto, CA, USA, October, 1984. Bibtex

J. Burdick and O. Khatib, "COSMOS Control System" , 4 (Intelligent Task Automation Interim Report), 6/10--6/18, January, 1984. Bibtex

J. Burdick and O. Khatib, "Force Control Implementation in COSMOS" , 5 (Intelligent Task Automation Interim Report), 6/9--6/13, April, 1984. Bibtex


1983

J. Burdick and O. Khatib, "Cartesian Path Planning and Estimation" , 3 (Intelligent Task Automation Interim Report), 5/59--5/83, July, 1983. Bibtex

J. Craig and O. Khatib and J. Burdick, "Stanford's Contribution to Active Force Control for ITA" , 3 (Intelligent Task Automation Interim Report), 5/50--5/59, July, 1983. Bibtex

O. Khatib, "Dynamic Control of Manipulators in Operational Space" , Proc. of the Sixth CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, 1128--1131, New Delhi, India, December, 1983. Bibtex


1980

O. Khatib, "Commande dynamique dans l'espace opèrationnel des robots manipulateurs en prèsence d'obstacles" , December, 1980. Bibtex


1978

O. Khatib and J. F. Le Maitre, "Dynamic Control of Manipulators Operating in a Complex Environment" , Proc. of the 3rd CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, 267--282, Udine, Italy, Septembter, 1978. Bibtex

H. Gallaire and O. Khatib and C. Lasserre and M. Llibre and R. Mampey, "Fonction Dècision-Commande d'un Robot Industriel" , 1/7156 (Rapport Principal), July, 1978. Bibtex

O. Khatib and M. Llibre and R. Mampey, "Fonction Dècision-Commande d'un Robot Manipulateur" , 2/7156 (Rapport Scientifique), July, 1978. Bibtex