Stanford Robotics

Book Chapters

• D. Shin, X. Yeh, T. Narita, and O. Khatib.
  Motor vs. Brake: Comparative Studies on Performance and Safety in Hybrid Actuations.
  In Experimental Robotics. Springer Tracts in Advanced Robotics, Vol. , Springer, Berlin, Heidelberg, Germany, pp. , 2012.

  @incollection{Shin:12,
  	author = {D.~Shin and X.~Yeh and T.~Narita and O.~Khatib},
  	title = {Motor vs. Brake: Comparative Studies on Performance and Safety in Hybrid Actuations},
  	booktitle = {Experimental Robotics},
  	series = {Springer Tracts in Advanced Robotics},
  	volume = {},
  	editor = {},
  	pages = {},
  	publisher = {Springer, Berlin, Heidelberg, Germany},
  	year = {2012}
  }
  			

• E. Demircan and O. Khatib.
  Constraint-Consistent Analysis of Muscle Force Contributions to Human Gait.
  In J. Lenarcic and M. Husty. Advances in Robot Kinematics. Springer, Berlin, Heidelberg, Germany, , pp. 301-308, 2012.

  @incollection{Demircan:12,
  	author = {E.~Demircan and O.~Khatib},
  	title = {Constraint-Consistent Analysis of Muscle Force Contributions to Human Gait},
  	booktitle = {Advances in Robot Kinematics},
  	pages = {301--308},
  	publisher = {Springer, Berlin, Heidelberg, Germany},
  	editor = {J.~Lenar\v{c}i\v{c} and M.~Husty},
  	year = {2012}
  }
  			

• E. Demircan, T. Besier, S. Menon, and O. Khatib.
  Human Motion Reconstruction and Synthesis of Human Skills.
  In J. Lenarcic and M.M. Stanisic. Advances in Robot Kinematics. Springer, Berlin, Heidelberg, Germany, , pp. 283-292, 2010.

  @incollection{Demircan:10,
  	author = {E.~Demircan and T.~Besier and S.~Menon and O.~Khatib},
  	title = {Human Motion Reconstruction and Synthesis of Human Skills},
  	booktitle = {Advances in Robot Kinematics},
  	pages = {283--292},
  	publisher = {Springer, Berlin, Heidelberg, Germany},
  	editor = {J.~Lenar\v{c}i\v{c} and M.M.~Stanisic},
  	year = {2010}
  }
  			

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

  @incollection{Shin:09,
  	author = {D.~Shin and I.~Sardellitti and Y.-L.~Park and O.~Khatib and M.~R.~Cutkosky},
  	title = {Design and Control of a Bio-inspired Human-Friendly Robot},
  	booktitle = {Experimental Robotics},
  	series = {Springer Tracts in Advanced Robotics},
  	volume = {54},
  	editor = {O.~Khatib and V.~Kumar and G.~J.~Pappas},
  	pages = {43--52},
  	publisher = {Springer, Berlin, Heidelberg, Germany},
  	year = {2009}
  }
  			

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

  @incollection{Petrovskaya:09,
  	author = {A.~Petrovskaya and S.~Thrun},
  	title = {Efficient Techniques for Dynamic Vehicle Detection},
  	booktitle = {Experimental Robotics},
  	series = {Springer Tracts in Advanced Robotics},
  	volume = {54},
  	editor = {O.~Khatib and V.~Kumar and G.~J.~Pappas},
  	pages = {79--91},
  	publisher = {Springer, Berlin, Heidelberg, Germany},
  	year = {2009}
  }
  			

• O. Khatib, L. Sentis, and J. Park.
  A Unified Framework for Whole-Body Humanoid Robot Control with Multiple Constraints and Contacts.
  In H. Bruyninckx, L. Preucil, and M. Kulich. European Robotics Symposium 2008. Springer Tracts in Advanced Robotics, Vol. 44, Springer, Berlin, Heidelberg, Germany, pp. 303-312, 2009.

  @incollection{Khatib:09,
  	author = {O.~Khatib and L.~Sentis and J.~Park},
  	title = {A Unified Framework for Whole-Body Humanoid Robot Control with Multiple Constraints and Contacts},
  	booktitle = {European Robotics Symposium 2008},
  	series = {Springer Tracts in Advanced Robotics},
  	volume = {44},
  	editor = {H.~Bruyninckx and L.~P\v{r}eu\v{c}il and M.~Kulich},
  	pages = {303--312},
  	publisher = {Springer, Berlin, Heidelberg, Germany},
  	year = {2009}
  }
  			

• E. Demircan, L. Sentis, V. De Sapio, and O. Khatib.
  Human Motion Reconstruction by Direct Control of Marker Trajectories.
  In J. Lenarcic and P. Wenger. Advances in Robot Kinematics. Springer, Berlin, Heidelberg, Germany, , pp. 263-272, 2008.

  @incollection{Demircan:08,
  	author = {E.~Demircan and L.~Sentis and V.~De~Sapio and O.~Khatib},
  	title = {Human Motion Reconstruction by Direct Control of Marker Trajectories},
  	booktitle = {Advances in Robot Kinematics},
  	pages = {263--272},
  	publisher = {Springer, Berlin, Heidelberg, Germany},
  	editor = {J.~Lenar\v{c}i\v{c} and P.~Wenger},
  	year = {2008}
  }
  			

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

  @incollection{Conti:08,
  	author = {F.~Conti and O.~Khatib},
  	title = {A New Actuation Approach for Haptic Interface Design},
  	booktitle = {Experimental Robotics},
  	series = {Springer Tracts in Advanced Robotics},
  	volume = {39},
  	editor = {O.~Khatib and V.~Kumar and D.~Rus},
  	pages = {441--450},
  	publisher = {Springer, Berlin, Heidelberg, Germany},
  	year = {2008}
  }
  			

• V. De Sapio, J. Warren, and O. Khatib.
  Predicting Reaching Postures Using a Kinematically Constrained Shoulder Model.
  In J. Lenarcic and B. Roth. Advances in Robot Kinematics. Springer, Berlin, Heidelberg, Germany, pp. 209-218, 2006.

  @incollection{DeSapio:06c,
  	author = {V.~De~Sapio and J.~Warren and O.~Khatib},
  	title = {Predicting Reaching Postures Using a Kinematically Constrained Shoulder Model},
  	booktitle = {Advances in Robot Kinematics},
  	pages = {209--218},
  	publisher = {Springer, Berlin, Heidelberg, Germany},
  	editor = {J.~Lenar\v{c}i\v{c} and B.~Roth},
  	year = {2006}
  }
  			

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

  @incollection{Park:06b,
  	author = {J.~Park and O.~Khatib},
  	title = {Robust Haptic Teleoperation of a Mobile Manipulation Platform},
  	booktitle = {Experimental Robotics IX},
  	pages = {543--554},
  	volume = {21},
  	series = {Springer Tracts in Advanced Robotics},
  	publisher = {Springer, Berlin, Heidelberg, Germany},
  	editor = {M.~H.~Ang and O.~Khatib},
  	year = {2006}
  }
  			

• O. Khatib, J. Warren, V. De Sapio, and L. Sentis.
  Human-Like Motion From Physiologically-Based Potential Energies.
  In J. Lenarcic and C. Galletti. On Advances in Robot Kinematics. Kluwer Academic Publishers, , pp. 149-163, 2004.

  @incollection{Khatib:04c,
  	author = {O.~Khatib and J.~Warren and V.~De~Sapio and L.~Sentis},
  	title = {Human-Like Motion From Physiologically-Based Potential Energies},
  	booktitle = {On Advances in Robot Kinematics},
  	pages = {149--163},
  	publisher = {Kluwer Academic Publishers},
  	editor = {J.~Lenar\v{c}i\v{c} and C.~Galletti},
  	year = {2004}
  }
  			

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

  @incollection{Khatib:03,
  	author = {O.~Khatib and O.~Brock and K.-S.~Chang and D.~C.~Ruspini and L.~Sentis and S.~Viji},
  	title = {Human-Centered Robotics and Interactive Haptic Simulation},
  	booktitle = {Robotics Research},
  	series = {Springer Tracts in Advanced Robotics},
  	volume = {6},
  	editor = {R.~A.~Jarvis and A.~Zelinsky},
  	pages = {239--253},
  	publisher = {Springer, Berlin, Heidelberg, Germany},
  	year = {2003}
  }
  			

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

  @incollection{Zinn:03a,
  	author = {M.~Zinn and O.~Khatib and B.~Roth and J.~K.~Salisbury},
  	title = {Actuations Methods for Human-Centered Robotics and Associated Control Challenges},
  	booktitle = {Control Problems in Robotics},
  	pages = {105--120},
  	volume = {4},
  	series = {Springer Tracts in Advanced Robotics},
  	publisher = {Springer, Berlin, Heidelberg, Germany},
  	editor = {A.~Bicchi and H.~Christensen and D.~Prattichizzo},
  	year = {2003}
  }
  			

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

  @incollection{Zinn:03,
  	author = {M.~Zinn and O.~Khatib and B.~Roth and J.~K.~Salisbury},
  	title = {A New Actuation Approach for Human Friendly Robot Design},
  	booktitle = {Experimental Robotics VIII},
  	series = {Springer Tracts in Advanced Robotics},
  	volume = {5},
  	editor = {B.~Siciliano and P.~Dario},
  	pages = {113--122},
  	publisher = {Springer, Berlin, Heidelberg, Germany},
  	year = {2003}
  }
  			

• M. Zinn, O. Khatib, B. Roth, and J. K. Salisbury.
  Towards A Human-Centered Intrinsically-Safe Robotic Manipulator.
  In Proc. of the Second IARP-IEEE/Robotics and Autonomous Systems Joint Workshop on Technical Challenges for Dependable Robots in Human Environments. pp. 588-594, October 2002.

  @incollection{Zinn:02,
  	author = {M.~Zinn and O.~Khatib and B.~Roth and J.~K.~Salisbury},
  	title = {Towards A Human-Centered Intrinsically-Safe Robotic Manipulator},
  	booktitle = {Proc. of the Second IARP-IEEE/Robotics and Autonomous Systems Joint Workshop on Technical Challenges for Dependable Robots in Human Environments},
  	month = {October},
  	pages = {588--594},
  	address = {Toulouse, France},
  	year = {2002}
  }
  			

• J. Liu and O. Khatib.
  Practical Connection Between Potential Fields and Neural Networks.
  In M. A. Arbib. The Handbook of Brain Theory and Neural Networks. MIT Press, pp. 274-279, 2002.

  @incollection{Liu:02,
  	author = {J.~Liu and O.~Khatib},
  	title = {Practical Connection Between Potential Fields and Neural Networks},
  	booktitle = {The Handbook of Brain Theory and Neural Networks},
  	editor = {M.~A.~Arbib},
  	pages = {274--279},
  	publisher = {MIT Press},
  	address = {Cambridge, MA, USA},
  	year = {2002}
  }
  			

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

  @incollection{Khatib:02b,
  	author = {O.~Khatib and O.~Brock and K.-S.~Chang and F.~Conti and D.~C.~Ruspini and L.~Sentis},
  	title = {Efficient Algorithms for Robots with Human-Like Structures and Interactive Haptic Simulation},
  	booktitle = {Advances in Robot Kinematics: {T}heory and Applications},
  	pages = {89--98},
  	publisher = {Kluwer Academic Publishers},
  	editor = {J.~Lenar\v{c}i\v{c} and F.~Thomas},
  	year = {2002}
  }
  			

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

  @incollection{Liu:02a,
  	author = {J.~Liu and O.~Khatib},
  	title = {Potential Fields and Neural Networks},
  	booktitle = {The Handbook of Brain Theory and Neural Networks},
  	pages = {901--910},
  	edition = {second},
  	publisher = {The {M}{I}{T} Press, Cambridge, MA, USA},
  	editor = {M.~A.~Arbib},
  	year = {2002}
  }
  			

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

  @incollection{Ruspini:01a,
  	author = {D.~C.~Ruspini and O.~Khatib},
  	title = {Simulation with Contact for Haptic Interaction},
  	booktitle = {Touch in Virtual Environments},
  	pages = {32--46},
  	publisher = {Prentice-Hall, Upper Saddle River, NJ, USA},
  	editor = {M.~McLaughlin and J.~P.~Hespanha and G.~S.~Sukhatme},
  	year = {2001}
  }
  			

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

  @incollection{Ruspini:99b,
  	author = {D.~C.~Ruspini and O.~Khatib},
  	title = {Haptics for Virtual Prototyping},
  	booktitle = {Recent Advances in Mechatronics},
  	pages = {294--303},
  	publisher = {Springer-Verlag Berlin, Heidelberg, Germany},
  	editor = {O.~Kaynak and S.~Tosunoglu and M.~Ang},
  	year = {1999}
  }
  			

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

  @incollection{Khatib:98b,
  	author = {O.~Khatib},
  	title = {Mobile Manipulator System},
  	booktitle = {Autonomous Robotic Systems},
  	pages = {141--148},
  	publisher = {Springer-Verlag Berlin, Heidelberg, Germany},
  	editor = {A.~T.~De~Almeida and O.~Khatib},
  	year = {1998}
  }
  			

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

  @incollection{Khatib:93e,
  	author = {O.~Khatib},
  	title = {A Unified Approach to Motion and Force Control of Robot Manipulators: {T}he Operational Space Formulation},
  	booktitle = {Robot Control: {D}ynamics, Motion Planning and Analysis},
  	pages = {277--287},
  	publisher = {{I}{E}{E}{E} Computer Society Press},
  	editor = {M.~W.~Spong and F.~L.~Lewis and C.~T.~Abdallah},
  	year = {1993}
  }
  			

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

  @incollection{Khatib:91c,
  	author = {O.~Khatib},
  	title = {Real-Time Obstacle Avoidance for Manipulators and Mobile Robots},
  	booktitle = {Autonomous Mobile Robots: {P}erception, Mapping, and Navigation},
  	pages = {428--436},
  	volume = {1},
  	publisher = {{I}{E}{E}{E} Computer Society Press},
  	editor = {S.~S.~Iyengar and A.~Elfes},
  	year = {1991}
  }
  			

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

  @incollection{Khatib:90c,
  	author = {O.~Khatib},
  	title = {Real-Time Obstacle Avoidance for Manipulators and Mobile Robots},
  	booktitle = {Autonomous Robot Vehicles},
  	pages = {396--404},
  	publisher = {Springer-Verlag Berlin, Heidelberg, Germany},
  	editor = {I.~Cox and G.~Wilfong},
  	year = {1990}
  }
  			

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

  @incollection{Khatib:86i,
  	author = {O.~Khatib},
  	title = {The Potential Field Approach and Operational Space Formulation in Robot Control},
  	booktitle = {Adaptive and Learning Systems: {T}heory and Applications},
  	pages = {367--377},
  	publisher = {Plenum Press, New York, NY, USA},
  	editor = {K.~S.~Narendra},
  	year = {1986}
  }