Conference Papers

J. S. Kwon, T. Yoshikawa, and O. Khatib.
Elastic Strips: Implementation on a Physical Humanoid Robot.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. , Algarve, Portugal, October 2012.

@inproceedings{Kwon:12,
	author = {J.~S.~Kwon and T.~Yoshikawa and O.~Khatib},
	title = {Elastic Strips: Implementation on a Physical Humanoid Robot},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	month = {October},
	pages = {},
	address = {Algarve, Portugal},
	year = {2012}
}

F. Flacco, A. De Luca, and O. Khatib.
Prioritized Multi-Task Motion Control of Redundant Robots under Hard Joint Constraints.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. , Algarve, Portugal, October 2012.

@inproceedings{Flacco:12a,
	author = {F.~Flacco and A.~De~Luca and O.~Khatib},
	title = {Prioritized Multi-Task Motion Control of Redundant Robots under Hard Joint Constraints},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	month = {October},
	pages = {},
	address = {Algarve, Portugal},
	year = {2012}
}

T. Kröger, K. Oslund, T. Jenkins, D. Torczynski, N. Hippenmeyer, R. B. Rusu, and O. Khatib.
JediBot - Experiments in Human-Robot Sword-Fighting.
In Proc. of the International Symposium on Experimental Robotics, Québec City, Canada, June 2012.

@inproceedings{Kroeger:12b,
	author = {{T.~Kr{\"o}ger} and K.~Oslund and T.~Jenkins and D.~Torczynski and N.~Hippenmeyer and R.~B.~Rusu and O.~Khatib},
	title = {JediBot\,---\,Experiments in Human-Robot Sword-Fighting},
	booktitle = {Proc. of the International Symposium on Experimental Robotics},
	month = {June},
	address = {Qu\'{e}bec City, Canada},
	year = {2012}
}

E. Demircan and O. Khatib.
Constraint-Consistent Analysis of Muscle Force Contributions to Human Gait.
In J. Lenarcic and M. Husty. Proc. of the 13th International Symposium Advances in Robot Kinematics, Innsbruck, Austria, June 2012.

@inproceedings{Demircan:12a,
	author = {E.~Demircan and O.~Khatib},
	title = {Constraint-Consistent Analysis of Muscle Force Contributions to Human Gait},
	booktitle = {Proc. of the 13th International Symposium Advances in Robot Kinematics},
	month = {jun},
	publisher = {Springer, Berlin, Heidelberg, Germany},
	editor = {J.~Lenar\v{c}i\v{c} and M.~Husty},
	address = {Innsbruck, Austria},
	year = {2012}
}

E. Demircan, T. F. Besier, and O. Khatib.
Muscle Force Transmission to Operational Space Accelerations During Elite Golf Swings.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 1464-1469, St Paul, MN, USA, May 2012.

@inproceedings{Demircan:12,
	author = {E.~Demircan and T.~F.~Besier and O.~Khatib},
	title = {Muscle Force Transmission to Operational Space Accelerations During Elite Golf Swings},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	pages = {1464--1469},
	address = {St Paul, MN, USA},
	year = {2012}
}

F. Flacco, T. Kröger, A. De Luca, and O. Khatib.
A Depth Space Approach to Human-Robot Collision Avoidance.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 338-345, Saint Paul, MN, USA, May 2012.

@inproceedings{Flacco:12,
	author = {F.~Flacco and T.~Kr{\"o}ger and A.~De~Luca and O.~Khatib},
	title = {A Depth Space Approach to Human-Robot Collision Avoidance},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	pages = {338--345},
	address = {Saint Paul, MN, USA},
	year = {2012}
}

T. Kröger.
On-Line Trajectory Generation: Nonconstant Motion Constraints.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 2048-2054, Saint Paul, MN, USA, May 2012.

@inproceedings{Kroeger:12,
	author = {T.~Kr{\"o}ger},
	title = {On-Line Trajectory Generation: {N}onconstant Motion Constraints},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	pages = {2048--2054},
	address = {Saint Paul, MN, USA},
	year = {2012}
}

T. Kröger and J. Padial.
Simple and Robust Visual Servo Control of Robot Arms Using an On-Line Trajectory Generator.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 4862-4869, Saint Paul, MN, USA, May 2012.

@inproceedings{Kroeger:12a,
	author = {T.~Kr{\"o}ger and J.~Padial},
	title = {Simple and Robust Visual Servo Control of Robot Arms Using an On-Line Trajectory Generator},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	pages = {4862--4869},
	address = {Saint Paul, MN, USA},
	year = {2012}
}

A. Tobergte, P. Helmer, U. Hagn, P. Rouiller, S. Thielmann, S. Grange, A. Albu-Schäffer, F. Conti, and GHirzinger.
The sigma.7 Haptic Interface for MiroSurge: A New Bi-manual Surgical Console.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3023-3030, San Francisco, CA, USA, September 2011.

@inproceedings{Conti:11,
	author = {A.~Tobergte and P.~Helmer and U.~Hagn and P.~Rouiller and S.~Thielmann and S.~Grange and A.~Albu-Sch{\"a}ffer and F.~Conti and G. Hirzinger},
	title = {The sigma.7 Haptic Interface for MiroSurge: A New Bi-manual Surgical Console},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	month = {September},
	pages = {3023--3030},
	address = {San Francisco, CA, USA},
	year = {2011}
}

R. Philippsen, L. Sentis, and O. Khatib.
An Open Source Extensible Software Package to Create Whole-Body Compliant Skills in Personal Mobile Manipulators.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1036-1041, San Francisco, CA, USA, September 2011.

@inproceedings{Philippsen:11,
	author = {R.~Philippsen and L.~Sentis and O.~Khatib},
	title = {An Open Source Extensible Software Package to Create Whole-Body Compliant Skills in Personal Mobile Manipulators},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	month = {September},
	pages = {1036--1041},
	address = {San Francisco, CA, USA},
	year = {2011}
}

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

@inproceedings{Demircan:11,
	author = {E.~Demircan and O.~Khatib},
	title = {Task-Level Reconstruction and Analysis of Dynamic Motions in Human Musculoskeletal Systems},
	booktitle = {In Workshop on Robotics for Neurology and Rehabilitation at the IEEE/RSJ International Conference on Intellegent Robots and Systems},
	month = {September},
	address = {San Francisco, CA, USA},
	year = {2011}
}

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

@inproceedings{Conti:11a,
	author = {S.~Chan and F.~Conti and N.H.~Blevins and K.~Salisbury},
	title = {Constraint-based Six Degree-of-freedom Haptic Rendering of Volume-embedded Isosurfaces},
	booktitle = {In Proc. of the IEEE World Haptics Conference},
	month = {June},
	pages = {89--94},
	address = {Istanbul, Turkey},
	year = {2011}
}

E. Klingbeil, D. Rao, B. Carpenter, V. Ganapathi, A. Y. Ng, and O. Khatib.
Grasping with Application to an Autonomous Checkout Robot.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 2837-2844, Shanghai, China, May 2011.

@inproceedings{Klingbeil:11,
	author = {E.~Klingbeil and D.~Rao and B.~Carpenter and V.~Ganapathi and A.~Y.~Ng and O.~Khatib},
	title = {Grasping with Application to an Autonomous Checkout Robot},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {may},
	pages = {2837--2844},
	address = {Shanghai, China},
	year = {2011}
}

D. Shin, X. Yeh, and O. Khatib.
Variable Radius Pulley Design Methodology for Pneumatic Artificial Muscle-based Antagonistic Actuation Systems.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1830-1835, San Francisco, CA, USA, September 2011.

@inproceedings{Shin:11a,
	author = {D.~Shin and X.~Yeh and O.~Khatib},
	title = {Variable Radius Pulley Design Methodology for Pneumatic Artificial Muscle-based Antagonistic Actuation Systems},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	month = {September},
	pages = {1830--1835},
	address = {San Francisco, CA, USA},
	year = {2011}
}

S. Phan, Z. F. Quek, P. Shah, D. Shin, Z. Ahmed, O. Khatib, and M. R. Cutkosky.
Capacitive Skin Sensors for Robot Impact Monitoring.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2992-2997, San Francisco, CA, USA, September 2011.

@inproceedings{Shin:11b,
	author = {S.~Phan and Z.~F.~Quek and P.~Shah and D.~Shin and Z.~Ahmed and O.~Khatib and M.~R.~Cutkosky},
	title = {Capacitive Skin Sensors for Robot Impact Monitoring},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	month = {September},
	pages = {2992--2997},
	address = {San Francisco, CA, USA},
	year = {2011}
}

D. Shin, Z. F. Quek, S. Phan, M. R. Cutkosky, and O. Khatib.
Instantaneous Stiffness Effects on Impact Forces in Human-Friendly Robots.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2998-3003, San Francisco, CA, USA, September 2011.

@inproceedings{Shin:11c,
	author = {D.~Shin and Z.~F.~Quek and S.~Phan and M.~R.~Cutkosky and O.~Khatib},
	title = {Instantaneous Stiffness Effects on Impact Forces in Human-Friendly Robots},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	month = {September},
	pages = {2998--3003},
	address = {San Francisco, CA, USA},
	year = {2011}
}

A. Petrovskaya and O. Khatib.
Global Localization of Objects via Touch.
IEEE Trans. on Robotics. Vol. 27, No. 3, pp. 569-585, June 2011.

@article{Petrovskaya:11,
	author = {A.~Petrovskaya and O.~Khatib},
	title = {Global Localization of Objects via Touch},
	journal = {IEEE Trans. on Robotics},
	volume = {27},
	number = {3},
	month = {June},
	pages = {569--585},
	year = {2011}
}

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

@inproceedings{Flacco:11a,
	author = {F.~Flacco and T.~Kr{\"o}ger and A.~De Luca and O.~Khatib},
	title = {A Depth Space Approach to Human-Robot Collision Avoidance},
	booktitle = {In Workshop on Human-Friendly Robotics},
	month = {November},
	address = {Twente, The Netherlands},
	year = {2011}
}

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

@inproceedings{Flacco:11b,
	author = {F.~Flacco and T.~Kr{\"o}ger and A.~De Luca and O.~Khatib},
	title = {Collision Avoidance in Depth Space},
	booktitle = {In Workshop on RGB-D: Advanced Reasoning with Depth Cameras at Robotics Science and Systems},
	month = {June},
	address = {Los Angeles, CA, USA},
	year = {2011}
}

F. Conti, J. Park, and O. Khatib.
Interface Design and Control Strategies for a Robot Assisted Ultrasonic Examination System.
In Proc. of the International Symposium on Experimental Robotics, New Delhi, India, December 2010.

@inproceedings{Conti:10,
	author = {F.~Conti and J.~Park and O.~Khatib},
	title = {Interface Design and Control Strategies for a Robot Assisted Ultrasonic Examination System},
	booktitle = {Proc. of the International Symposium on Experimental Robotics},
	month = {December},
	address = {New Delhi, India},
	year = {2010}
}

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

@inproceedings{Demircan:10,
	author = {E.~Demircan and T.~Besier and S.~Menon and O.~Khatib},
	title = {Human Motion Reconstruction and Synthesis of Human Skills},
	booktitle = {Proc. of the Twelveth International Symposium Advances in Robot Kinematics},
	month = {June},
	publisher = {Springer, Berlin, Heidelberg, Germany},
	address = {Piran-Portoroz, Slovenia},
	year = {2010}
}

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

@inproceedings{Yoshikawa:10,
	author = {T.~Yoshikawa},
	title = {An Approach for Multi-Contact and Whole-Body Control of Humanoid Robot},
	booktitle = {Workshop on Active Force Control at the {I}{E}{E}{E} International Conference on Robotics and Automation},
	month = {May},
	address = {Anchorage, AK, USA},
	year = {2010}
}

E. Klingbeil, B. Carpenter, O. Russakovsky, and A. Y. Ng.
Autonomous Operation of Novel Elevators for Robot Navigation.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 751-758, Anchorage, AK, USA, May 2010.

@inproceedings{Klingbeil:10,
	author = {E.~Klingbeil and B.~Carpenter and O.~Russakovsky and A.~Y.~Ng},
	title = {Autonomous Operation of Novel Elevators for Robot Navigation},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	pages = {751--758},
	address = {Anchorage, AK, USA},
	year = {2010}
}

D. Shin, F. Seitz, O. Khatib, and M. R. Cutkosky.
Analysis of Torque Capacities in Hybrid Actuation for Human-Friendly Robot Design.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 799-804, Anchorage, AK, USA, May 2010.

@inproceedings{Shin:10,
	author = {D.~Shin and F.~Seitz and O.~Khatib and M.~R.~Cutkosky},
	title = {Analysis of Torque Capacities in Hybrid Actuation for Human-Friendly Robot Design},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	pages = {799--804},
	address = {Anchorage, AK, USA},
	year = {2010}
}

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

@inproceedings{Yoshikawa:10a,
	author = {A.~K.~Arumbakkam and T.~Yoshikawa and B.~Dariush and K.~Fujimura},
	title = {A Multi-modal Architecture for Human Robot Communication},
	booktitle = {HUMANOIDS},
	month = {December},
	pages = {639--646},
	address = {Nashville, TN, USA},
	year = {2010}
}

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

@inproceedings{Petrovskaya:10a,
	author = {A.~Petrovskaya and S.~Thrun and D.~Koller and O.~Khatib},
	title = {Guaranteed Inference for Global State Estimation in Human Environments},
	booktitle = {In Workshop on Workshop on Strategies and Evaluation for Mobile Manipulation in Household Environments},
	month = {June},
	address = {Zaragoza, Spain},
	year = {2010}
}

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

@inproceedings{Petrovskaya:10b,
	author = {A.~Petrovskaya and S.~Thrun and D.~Koller and O.~Khatib},
	title = {Towards Dependable Perception: {G}uaranteed Inference for Global Localizatio},
	booktitle = {IARP Workshop on Technical Challenges for Dependable Robots in Human Environments},
	month = {June},
	address = {Toulouse, France},
	year = {2010}
}

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

@inproceedings{Khatib:09d,
	author = {O.~Khatib},
	title = {Human-Friendly Robotics},
	booktitle = {Proc. of the IEEE International Symposium on Industrial Electronics},
	month = {July},
	pages = {iv},
	address = {Seoul, South Korea},
	year = {2009}
}

L. Sentis, J. Park, and O. Khatib.
Modeling and Control of Multi-Contact Centers of Pressure and Internal Forces in Humanoid Robots.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 453-460, St. Louis, MO, USA, October 2009.

@inproceedings{Sentis:09,
	author = {L.~Sentis and J.~Park and O.~Khatib},
	title = {Modeling and Control of Multi-Contact Centers of Pressure and Internal Forces in Humanoid Robots},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	month = {October},
	pages = {453--460},
	address = {St. Louis, MO, USA},
	year = {2009}
}

T. Yoshikawa and O. Khatib.
Compliant Humanoid Robot Control by the Torque Transformer.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3011-3018, St. Louis, MO, USA, October 2009.

@inproceedings{Yoshikawa:09,
	author = {T.~Yoshikawa and O.~Khatib},
	title = {Compliant Humanoid Robot Control by the Torque Transformer},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	month = {October},
	pages = {3011--3018},
	address = {St. Louis, MO, USA},
	year = {2009}
}

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

@inproceedings{Demircan:09,
	author = {E.~Demircan and O.~Khatib and J.~Wheeler and S.~Delp},
	title = {Reconstruction and EMG-Informed Control, Simulation and Analysis of Human Movement for Athletics: Performance Improvement and Injury Prevention},
	booktitle = {Proc. of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society},
	month = {September},
	pages = {6534--6537},
	address = {Minneapolis, MN, USA},
	year = {2009}
}

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

@inproceedings{Philippsen:09,
	author = {R.~Philippsen and N.~Nejati and L.~Sentis},
	title = {Bridging the Gap Between Semantic Planning and Continuous Control for Mobile Manipulation Using a Graph-Based World Representation},
	booktitle = {Proc. of the First International Workshop on Hybrid Control of Autonomous Systems},
	month = {July},
	pages = {77--81},
	address = {Passadena, CA, USA},
	year = {2009}
}

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

@inproceedings{Demircan:09a,
	author = {E.~Demircan and J.~Wheeler and F.~C.~Anderson and T.~Besier and S.~Delp},
	title = {EMG-Informed Computed Muscle Control for Dynamic Simulations of Movement},
	booktitle = {Proc. of the XXII Congress of the International Society of Biomechanics},
	month = {July},
	address = {Cape Town South Africa},
	year = {2009}
}

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

@inproceedings{Sentis:09a,
	author = {L.~Sentis and M.~Mintz and A.~Ayyagari and C.~Battles and S.~Ying and O.~Khatib},
	title = {Large Scale Multi-Robot Coordination Under Network and Geographical Constraints},
	booktitle = {Proc. of the IEEE International Symposium of Industrial Electronics},
	month = {July},
	pages = {1046--1053},
	address = {Seoul, South Korea},
	year = {2009}
}

A. Petrovskaya and S. Thrun.
Model Based Vehicle Tracking in Urban Environments.
In 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.

@inproceedings{Petrovskaya:09a,
	author = {A.~Petrovskaya and S.~Thrun},
	title = {Model Based Vehicle Tracking in Urban Environments},
	booktitle = {Workshop on Safe Navigation in Open and Dynamic Environments Application to Autonomous Vehicles at the {I}{E}{E}{E} International Conference on Robotics and Automation},
	month = {May},
	address = {Kobe, Japan},
	year = {2009}
}

M. Quigley, S. Batra, S. Gould, E. Klingbeil, Q. Le, A. Wellman, and A. Y. Ng.
High-Accuracy 3D Sensing for Mobile Manipulation: Improving Object Detection and Door Opening.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 2816-2822, Kobe, Japan, May 2009.

@inproceedings{Quigley:09,
	author = {M.~Quigley and S.~Batra and S.~Gould and E.~Klingbeil and Q.~Le and A.~Wellman and A.~Y.~Ng},
	title = {High-Accuracy 3D Sensing for Mobile Manipulation: {I}mproving Object Detection and Door Opening},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	pages = {2816--2822},
	address = {Kobe, Japan},
	year = {2009}
}

D. Shin, O. Khatib, and M. R. Cutkosky.
Design Methodologies of a Hybrid Actuation Approach for a Human-Friendly Robot.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 4369-4374, Kobe, Japan, May 2009.

@inproceedings{Shin:09a,
	author = {D.~Shin and O.~Khatib and M.~R.~Cutkosky},
	title = {Design Methodologies of a Hybrid Actuation Approach for a Human-Friendly Robot},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	pages = {4369--4374},
	address = {Kobe, Japan},
	year = {2009}
}

O. Khatib, L. Sentis, and J. Park.
A Unified Framework for Whole-body Humanoid Robot Control with Multiple Constraints and Contacts.
In Proc. of the European Robotics Symposium, pp. 303-312, Prague, Czech Republic, July 2008.

@inproceedings{Khatib:08b,
	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 = {Proc. of the European Robotics Symposium},
	month = {July},
	address = {Prague, Czech Republic},
	pages = {303--312},
	publisher = {Springer, Berlin, Heidelberg, Germany},
	year = {2008}
}

N. Mansard and O. Khatib.
Continuous Control Law from Unilateral Constraints.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 3359-3364, Passadena, CA, USA, May 2008.

@inproceedings{Mansard:08,
	author = {N.~Mansard and O.~Khatib},
	title = {Continuous Control Law from Unilateral Constraints},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	address = {Passadena, CA, USA},
	month = {May},
	pages = {3359--3364},
	year = {2008}
}

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

@inproceedings{Zinn:08,
	author = {M.~Zinn and O.~Khatib and B.~Roth and J.~K.~Salisbury},
	title = {Large Workspace Haptic Devices\,---\,{A} New Actuation Approach},
	booktitle = {Proc. of the IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems},
	pages = {185--192},
	address = {Reno, NV, USA},
	month = {March},
	year = {2008}
}

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

@inproceedings{Backes:08,
	author = {P.~Backes and D.~Helmick and M.~Bajracharya and O.~Khatib and V.~Padois and J.~Warren},
	title = {Results of Coring from a Low Mass Rover},
	booktitle = {Proc. of the IEEE Aerospace Conference},
	pages = {1--7},
	address = {Big Sky, MT, USA},
	month = {March},
	year = {2008}
}

T. Yoshikawa and O. Khatib.
Compliant Motion Control for a Humanoid Robot in Contact with the Environment and Humans.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 211-218, Nice, France, September 2008.

@inproceedings{Yoshikawa:08,
	author = {T.~Yoshikawa and O.~Khatib},
	title = {Compliant Motion Control for a Humanoid Robot in Contact with the Environment and Humans},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	month = {September},
	pages = {211--218},
	address = {Nice, France},
	year = {2008}
}

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. Proc. of the Eleventh International Symposium Advances in Robot Kinematics, pp. 263-272, Batz-sur-Mer, France, June 2008.

@inproceedings{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 = {Proc. of the Eleventh International Symposium Advances in Robot Kinematics},
	editor = {J.~Lenar\v{c}i\v{c} and P.~Wenger},
	month = {June},
	pages = {263--272},
	publisher = {Springer, Berlin, Heidelberg, Germany},
	address = {Batz-sur-Mer, France},
	year = {2008}
}

E. Klingbeil, A. Saxena, and A. Y. Ng.
Learning to Open New Doors.
In Proc. of Robotics: Science and Systems, Zurich, Switzerland, June 2008.

@inproceedings{Klingbeil:08,
	author = {E.~Klingbeil and A.~Saxena and A.~Y.~Ng},
	title = {Learning to Open New Doors},
	booktitle = {Proc. of Robotics: Science and Systems},
	month = {June},
	address = {Zurich, Switzerland},
	year = {2008}
}

A. Petrovskaya and S. Thrun.
Model Based Vehicle Tracking for Autonomous Driving in Urban Environments.
In Proc. of Robotics: Science and Systems, Zurich, Switzerland, June 2008.

@inproceedings{Petrovskaya:08,
	author = {A.~Petrovskaya and S.~Thrun},
	title = {Model Based Vehicle Tracking for Autonomous Driving in Urban Environments},
	booktitle = {Proc. of Robotics: Science and Systems},
	month = {June},
	address = {Zurich, Switzerland},
	year = {2008}
}

O. Khatib, P. Thaulad, T. Yoshikawa, and J. Park.
Torque-Position Transformer for Task Control of Position Controlled Robots.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 1729-1734, Passadena, CA, USA, May 2008.

@inproceedings{Khatib:08,
	author = {O.~Khatib and P.~Thaulad and T.~Yoshikawa and J.~Park},
	title = {Torque-Position Transformer for Task Control of Position Controlled Robots},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	pages = {1729--1734},
	address = {Passadena, CA, USA},
	year = {2008}
}

S. Burion, F. Conti, A. Petrovskaya, C. Baur, and O. Khatib.
Identifying Physical Properties of Deformable Objects by Using Particle Filters.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 1112-1117, Passadena, CA, USA, May 2008.

@inproceedings{Burion:08,
	author = {S.~Burion and F.~Conti and A.~Petrovskaya and C.~Baur and O.~Khatib},
	title = {Identifying Physical Properties of Deformable Objects by Using Particle Filters},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	pages = {1112--1117},
	address = {Passadena, CA, USA},
	year = {2008}
}

D. Shin, I. Sardellitti, and O. Khatib.
A Hybrid Actuation Approach for Human-Friendly Robot Design.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 1747-1752, Passadena, CA, USA, May 2008.

@inproceedings{Shin:08,
	author = {D.~Shin and I.~Sardellitti and O.~Khatib},
	title = {A Hybrid Actuation Approach for Human-Friendly Robot Design},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	pages = {1747--1752},
	address = {Passadena, CA, USA},
	year = {2008}
}

I. Sardellitti, J. Park, D. Shin, and O. Khatib.
Air Muscle Controller Design in the Distributed Macro-Mini (DM2) Actuation Approach.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1822-1827, San Diego, CA, USA, October 2007.

@inproceedings{Sardellitti:07,
	author = {I.~Sardellitti and J.~Park and D.~Shin and O.~Khatib},
	title = {Air Muscle Controller Design in the Distributed Macro-Mini (DM2) Actuation Approach},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	month = {October},
	pages = {1822--1827},
	address = {San Diego, CA, USA},
	year = {2007}
}

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

@inproceedings{Petrovskaya:07a,
	author = {A.~Petrovskaya and O.~Khatib and S.~Thrun and A.~Y.~Ng},
	title = {Touch Based Perception for Object Manipulation},
	booktitle = {Workshop on Robot Manipulation: Sensing and Adapting to the Real World},
	month = {June},
	address = {Atlanta, GA, USA},
	year = {2007}
}

A. Petrovskaya, J. Park, and O. Khatib.
Probabilistic Estimation of Whole Body Contacts for Multi-Contact Robot Control.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 568-573, Rome, Italy, April 2007.

@inproceedings{Petrovskaya:07,
	author = {A.~Petrovskaya and J.~Park and O.~Khatib},
	title = {Probabilistic Estimation of Whole Body Contacts for Multi-Contact Robot Control},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {April},
	pages = {568--573},
	address = {Rome, Italy},
	year = {2007}
}

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

@inproceedings{Conti:07,
	author = {F.~Conti and O.~Khatib and C.~Baur},
	title = {A Hybrid Actuation Approach for Haptic Devices},
	booktitle = {Proc. of the Second IEEE Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems},
	month = {March},
	pages = {367--372},
	address = {Tsukuba, Japan},
	year = {2007}
}

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

@inproceedings{Petrovskaya:07b,
	author = {A.~Petrovskaya and A.~Y.~Ng},
	title = {Probabilistic Mobile Manipulation in Dynamic Environments with Application to Opening Doors},
	booktitle = {Proc. of the 20th International Joint Conference on Artifical Intelligence},
	month = {January},
	pages = {2178--2184},
	address = {Hydrabad, India},
	year = {2007}
}

V. De Sapio, K. S. Holzbaur, and O. Khatib.
The Control of Kinematically Constrained Shoulder Complexes: Physiological and Humanoid Examples.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 2952-2959, Orlando, FL, USA, May 2006.

@inproceedings{DeSapio:06,
	author = {V.~De~Sapio and K.~S.~Holzbaur and O.~Khatib},
	title = {The Control of Kinematically Constrained Shoulder Complexes: Physiological and Humanoid Examples},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	pages = {2952--2959},
	address = {Orlando, FL, USA},
	year = {2006}
}

J. Park and O. Khatib.
Contact Consistent Control Framework for Humanoid Robots.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 1963-1969, Orlando, FL, USA, May 2006.

@inproceedings{Park:06,
	author = {J.~Park and O.~Khatib},
	title = {Contact Consistent Control Framework for Humanoid Robots},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	pages = {1963--1969},
	address = {Orlando, FL, USA},
	year = {2006}
}

A. Petrovskaya, O. Khatib, S. Thrun, and A. Y. Ng.
Bayesian Estimation for Autonomous Object Manipulation Based on Tactile Sensors.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 707-714, Orlando, FL, USA, May 2006.

@inproceedings{Petrovskaya:06,
	author = {A.~Petrovskaya and O.~Khatib and S.~Thrun and A.~Y.~Ng},
	title = {Bayesian Estimation for Autonomous Object Manipulation Based on Tactile Sensors},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	pages = {707--714},
	address = {Orlando, FL, USA},
	year = {2006}
}

L. Sentis and O. Khatib.
A Whole-Body Control Framework for Humanoid Operating in Human Environments.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 2641-2648, Orlando, FL, USA, May 2006.

@inproceedings{Sentis:06,
	author = {L.~Sentis and O.~Khatib},
	title = {A Whole-Body Control Framework for Humanoid Operating in Human Environments},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	pages = {2641--2648},
	address = {Orlando, FL, USA},
	year = {2006}
}

V. DeSapio and O. Khatib.
Operational Space Control of Multibody Systems with Explicit Holonomic Constraints.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 2950-2956, Barcelona, Spain, April 2005.

@inproceedings{DeSapio:05a,
	author = {V.~DeSapio and O.~Khatib},
	title = {Operational Space Control of Multibody Systems with Explicit Holonomic Constraints},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {April},
	pages = {2950--2956},
	address = {Barcelona, Spain},
	year = {2005}
}

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

@inproceedings{Munasinghe:05,
	author = {S.~R.~Munasinghe and C.~Oh and J.~J.~Lee and O.~Khatib},
	title = {Obstacle Avoidance Using Velocity Dipole Field Method},
	booktitle = {Proc. of the International Conference on Computer Applications in Shipbuilding},
	month = {August},
	address = {Busan, South Korea},
	year = {2005}
}

R. Cortesão, J. Park, and O. Khatib.
Telepresence and Stability Analysis for Haptic Tele-Manipulation with Short Time Delay.
In Proc. of the IEEE International Conference on Advanced Robotics, pp. 436-441, Coimbra, Portugal, August 2005.

@inproceedings{Cortesao:05,
	author = {R.~Cortes\~{a}o and J.~Park and O.~Khatib},
	title = {Telepresence and Stability Analysis for Haptic Tele-Manipulation with Short Time Delay},
	booktitle = {Proc. of the IEEE International Conference on Advanced Robotics},
	month = {August},
	pages = {436--441},
	address = {Coimbra, Portugal},
	year = {2005}
}

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

@inproceedings{Lee:05,
	author = {K.~Lee and J.~Park and O.~Khatib and D.-S.~Kwon},
	title = {Feedforward Global/Inertial Sensor Fusion Algorithm for Accurate Global Positioning of a Mobile Robot},
	booktitle = {Proc. of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics},
	month = {July},
	pages = {504--509},
	address = {Monterey, CA, USA},
	year = {2005}
}

L. Sentis and O. Khatib.
Control of Free-Floating Humanoid Robots Through Task Prioritization.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 1718-1723, Barcelona, Spain, April 2005.

@inproceedings{Sentis:05,
	author = {L.~Sentis and O.~Khatib},
	title = {Control of Free-Floating Humanoid Robots Through Task Prioritization},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {April},
	pages = {1718--1723},
	address = {Barcelona, Spain},
	year = {2005}
}

J. Park and O. Khatib.
Multi-Link Multi-Contact Force Control for Manipulators.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 3613-3618, Barcelona, Spain, April 2005.

@inproceedings{Park:05,
	author = {J.~Park and O.~Khatib},
	title = {Multi-Link Multi-Contact Force Control for Manipulators},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {April},
	pages = {3613--3618},
	address = {Barcelona, Spain},
	year = {2005}
}

V. De Sapio and O. Khatib.
Telepresence and Stability Analysis for Haptic Tele-Manipulation with Short Time Delay.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 2950-2956, Barcelona, Spain, April 2005.

@inproceedings{DeSapio:05,
	author = {V.~De~Sapio and O.~Khatib},
	title = {Telepresence and Stability Analysis for Haptic Tele-Manipulation with Short Time Delay},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {April},
	pages = {2950--2956},
	address = {Barcelona, Spain},
	year = {2005}
}

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

@inproceedings{Conti:05a,
	author = {F.~Conti and F.~Barbagli and D.~Morris and C.~Sewell},
	title = {{C}{H}{A}{I} {3}{D}\,---\,{A}n Open-Source Library for the Rapid Development of Haptic Scenes},
	booktitle = {Proc. of the Eurohaptics on Haptic Interfaces for Virtual Environment and Teleoperator Systems},
	month = {March},
	address = {Pisa, Italy},
	year = {2005}
}

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

@inproceedings{Conti:05,
	author = {F.~Conti and O.~Khatib},
	title = {Spanning Large Workspaces Using Small Haptic Devices},
	booktitle = {Proc. of the Eurohaptics on Haptic Interfaces for Virtual Environment and Teleoperator Systems},
	month = {March},
	pages = {183--188},
	address = {Pisa, Italy},
	year = {2005}
}

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

@inproceedings{Sentis:04,
	author = {L.~Sentis and O.~Khatib},
	title = {Task-Oriented Control of Humanoid Robots Through Prioritization},
	booktitle = {Proc. of the IEEE-Robotics and Autonomous Systems/RSJ International Conference on Humanoid Robots},
	month = {November},
	address = {Santa Monica, CA, USA},
	year = {2004}
}

M. Zinn, O. Khatib, and B. Roth.
A New Actuation Approach for Human-Friendly Robot Design.
In Proc. of the IEEE International Conference on Robotics and Automation, Vol. 1, pp. 249-254, New Orleans, LA, USA, April 2004.

@inproceedings{Zinn:04,
	author = {M.~Zinn and O.~Khatib and B.~Roth},
	title = {A New Actuation Approach for Human-Friendly Robot Design},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {April},
	volume = {1},
	pages = {249--254},
	address = {New Orleans, LA, USA},
	year = {2004}
}

J. Park, R. Cortesão, and O. Khatib.
Multi-Contact Compliant Motion Control for Robotic Manipulators.
In Proc. of the IEEE International Conference on Robotics and Automation, Vol. 5, pp. 4789-4794, New Orleans, LA, USA, April 2004.

@inproceedings{Park:04,
	author = {J.~Park and R.~Cortes\~{a}o and O.~Khatib},
	title = {Multi-Contact Compliant Motion Control for Robotic Manipulators},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {April},
	volume = {5},
	pages = {4789--4794},
	address = {New Orleans, LA, USA},
	year = {2004}
}

R. Cortesão, J. Park, and O. Khatib.
Real-Time Adaptive Control for Haptic Manipulation with Active Observers.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 3, pp. 2938-2943, Las Vegas, NA, USA, October 2003.

@inproceedings{Cortesao:03,
	author = {R.~Cortes\~{a}o and J.~Park and O.~Khatib},
	title = {Real-Time Adaptive Control for Haptic Manipulation with Active Observers},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	month = {October},
	volume = {3},
	pages = {2938--2943},
	address = {Las Vegas, NA, USA},
	year = {2003}
}

A. Bowling and O. Khatib.
Non-Redundant Robotic Manipulator Acceleration Capability and the Actuation Efficiency Measure.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 4, pp. 3325-3330, Las Vegas, NA, USA, October 2003.

@inproceedings{Bowling:03,
	author = {A.~Bowling and O.~Khatib},
	title = {Non-Redundant Robotic Manipulator Acceleration Capability and the Actuation Efficiency Measure},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	month = {October},
	volume = {4},
	pages = {3325--3330},
	address = {Las Vegas, NA, USA},
	year = {2003}
}

F. Conti, O. Khatib, and C. Baur.
Interactive Rendering of Deformable Objects Based on a Filling Sphere Modeling Approach.
In Proc. of the IEEE International Conference on Robotics and Automation, Vol. 3, pp. 3716-3721, Taipei, Taiwan, September 2003.

@inproceedings{Conti:03,
	author = {F.~Conti and O.~Khatib and C.~Baur},
	title = {Interactive Rendering of Deformable Objects Based on a Filling Sphere Modeling Approach},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {September},
	volume = {3},
	pages = {3716--3721},
	address = {Taipei, Taiwan},
	year = {2003}
}

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

@inproceedings{Khatib:03,
	author = {O.~Khatib and O.~Brock and K.-S.~Chang and D.~C.~Ruspini and L.~Sentis and S.~Viji},
	title = {Robots for the Human and Interactive Simulations},
	booktitle = {Proc. of the Eleventh {I}{F}{T}{o}{M}{M} World Congress in Mechanism and Machine Science},
	month = {August},
	pages = {1572--1576},
	address = {Tianjin, China},
	year = {2003}
}

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

@inproceedings{Conti:03a,
	author = {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.},
	title = {The {C}{H}{A}{I} Libraries},
	booktitle = {Proc. of EuroHaptics},
	month = {July},
	pages = {496--500},
	address = {Dublin, Irland},
	year = {2003}
}

J. Park, R. Cortesão, and O. Khatib.
Robust and Adaptive Teleoperation for Compliant Motion Tasks.
In Proc. of the IEEE International Conference on Advanced Robotics, pp. 513-519, Coimbra, Portugal, June 2003.

@inproceedings{Park:03,
	author = {J.~Park and R.~Cortes\~{a}o and O.~Khatib},
	title = {Robust and Adaptive Teleoperation for Compliant Motion Tasks},
	booktitle = {Proc. of the IEEE International Conference on Advanced Robotics},
	month = {June},
	pages = {513--519},
	address = {Coimbra, Portugal},
	year = {2003}
}

O. Khatib.
Human-Centered Robotics and Haptic Interaction: From Assistance to Surgery, the Emerging Applications.
In Proc. of the International Workshop on Robot Motion and Control, pp. 137-139, Bukowy, Poland, November 2002.

@inproceedings{Khatib:02,
	author = {O.~Khatib},
	title = {Human-Centered Robotics and Haptic Interaction: From Assistance to Surgery, the Emerging Applications},
	booktitle = {Proc. of the International Workshop on Robot Motion and Control},
	month = {November},
	pages = {137--139},
	address = {Bukowy, Poland},
	year = {2002}
}

A. Bowling and O. Khatib.
Actuator Selection for Desired Dynamic Performance.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, pp. 1966-1973, Lausanne, Switzerland, October 2002.

@inproceedings{Bowling:02,
	author = {A.~Bowling and O.~Khatib},
	title = {Actuator Selection for Desired Dynamic Performance},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	month = {October},
	volume = {2},
	pages = {1966--1973},
	address = {Lausanne, Switzerland},
	year = {2002}
}

J. Minguez, L. Montano, and O. Khatib.
Reactive Collision Avoidance for Navigation with Dynamic Constraints.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 588-594, Lausanne, Switzerland, October 2002.

@inproceedings{Minguez:02,
	author = {J.~Minguez and L.~Montano and O.~Khatib},
	title = {Reactive Collision Avoidance for Navigation with Dynamic Constraints},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	month = {October},
	volume = {1},
	pages = {588--594},
	address = {Lausanne, Switzerland},
	year = {2002}
}

D. Oetomo, M. H. Ang, R. Jamisola, and O. Khatib.
Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation.
In G. Binachi, J.-P. Guinot, and C. Rzymkowski. Proc. of the CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, pp. 189-200, Udine, Italy, July 2002.

@inproceedings{Oetomo:02,
	author = {D.~Oetomo and M.~H.~Ang and R.~Jamisola and O.~Khatib},
	title = {Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation},
	booktitle = {Proc. of the CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators},
	editor = {G.~Binachi and J.-P.~Guinot and C.~Rzymkowski},
	month = {July},
	pages = {189--200},
	publisher = {Springer, Vienna, Austria, 1998},
	address = {Udine, Italy},
	year = {2002}
}

O. Brock, O. Khatib, and S. Viji.
Task-Consistent Obstacle Avoidance for Mobile Manipulation (3 min).
In Video Proc. of the IEEE International Conference on Robotics and Automation, Washington, DC, USA, May 2002.

@inproceedings{Brock:02,
	author = {O.~Brock and O.~Khatib and S.~Viji},
	title = {Task-Consistent Obstacle Avoidance for Mobile Manipulation (3 min)},
	booktitle = {Video Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	address = {Washington, DC, USA},
	key = {keyVideo},
	year = {2002}
}

R. Jamisola, M. H. Ang, D.-N. Oetomo, O. Khatib, T.-M. Lim, and S.-Y. Lim.
The Operational Space Formulation Implementation to Aircraft Canopy Polishing Using a Mobile Manipulator.
In Proc. of the IEEE International Conference on Robotics and Automation, Vol. 1, pp. 400-405, Washington, DC, USA, May 2002.

@inproceedings{Jamisola:02,
	author = {R.~Jamisola and M.~H.~Ang and D.-N.~Oetomo and O.~Khatib and T.-M.~Lim and S.-Y.~Lim},
	title = {The Operational Space Formulation Implementation to Aircraft Canopy Polishing Using a Mobile Manipulator},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	volume = {1},
	pages = {400--405},
	address = {Washington, DC, USA},
	year = {2002}
}

O. Brock, O. Khatib, and S. Viji.
Task-Consistent Obstacle Avoidance and Motion Behavior for Mobile Manipulation.
In Proc. of the IEEE International Conference on Robotics and Automation, Vol. 1, pp. 388-393, Washington, DC, USA, May 2002.

@inproceedings{Brock:02a,
	author = {O.~Brock and O.~Khatib and S.~Viji},
	title = {Task-Consistent Obstacle Avoidance and Motion Behavior for Mobile Manipulation},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	volume = {1},
	pages = {388--393},
	address = {Washington, DC, USA},
	year = {2002}
}

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

@inproceedings{Khatib:01a,
	author = {O.~Khatib},
	title = {Digital Interactivity: {H}uman-Centered Robotics, Haptics, and Simulation},
	booktitle = {Proc. of the 6th International Computer Science Conference on Active Media Technology},
	pages = {4},
	month = {dez},
	address = {Hong Kong, China},
	publisher = {Springer-Verlag},
	year = {2001}
}

Ch. S. Kim, W. H. Seol, S. H. Han, and O. Khatib.
Fuzzy Logic Control of a Robot Manipulator Based on Visual Servoing.
In Proc. of the IEEE International Symposium on Industrial Electronics, Vol. 3, pp. 1597-1602, Pusan, South Korea, June 2001.

@inproceedings{Kim:01,
	author = {Ch.~S.~Kim and W.~H.~Seol and S.~H.~Han and O.~Khatib},
	title = {Fuzzy Logic Control of a Robot Manipulator Based on Visual Servoing},
	booktitle = {Proc. of the IEEE International Symposium on Industrial Electronics},
	month = {June},
	volume = {3},
	pages = {1597--1602},
	address = {Pusan, South Korea},
	year = {2001}
}

N. Turro, O. Khatib, and E. Coste-Maniere.
Haptically Augmented Teleoperation.
In Proc. of the IEEE International Conference on Robotics and Automation, Vol. 1, pp. 386-392, Seoul, South Korea, May 2001.

@inproceedings{Turro:01,
	author = {N.~Turro and O.~Khatib and E.~Coste-Maniere},
	title = {Haptically Augmented Teleoperation},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	volume = {1},
	pages = {386--392},
	address = {Seoul, South Korea},
	year = {2001}
}

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

@inproceedings{Khatib:00,
	author = {O.~Khatib},
	title = {Robots in Human Environments},
	booktitle = {Proc. of the International Conference on Control, Automation, Robotics, and Vision},
	month = {December},
	pages = {454--457},
	address = {Singapore},
	year = {2000}
}

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

@inproceedings{Brock:00b,
	author = {O.~Brock and O.~Khatib},
	title = {Integrated Planning and Execution: {E}lastic Strips},
	booktitle = {Proc. of the World Automation Congress},
	month = {December},
	pages = {ISORA-025},
	address = {Maui, HI, USA},
	year = {2000}
}

N. Turro and O. Khatib.
Haptically Augmented Teleoperation.
In D. Rus and S. Singh. Experimental Robotics VII, Proc. of the International Symposium on Experimental Robotics, pp. 1-10, Waikiki, HI, USA, December 2000.

@inproceedings{Turro:00,
	author = {N.~Turro and O.~Khatib},
	title = {Haptically Augmented Teleoperation},
	booktitle = {Experimental Robotics VII, Proc. of the International Symposium on Experimental Robotics},
	editor = {D.~Rus and S.~Singh},
	pages = {1--10},
	address = {Waikiki, HI, USA},
	publisher = {Springer-Verlag, Berlin, Heidelberg, Germany, 2000},
	month = {December},
	year = {2000}
}

D. C. Ruspini and O. Khatib.
A Framework for Multi-Contact Multi-Body Dynamic Simulation and Haptic Display.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, pp. 1322-1327, Takamatsu, Japan, October 2000.

@inproceedings{Ruspini:00a,
	author = {D.~C.~Ruspini and O.~Khatib},
	title = {A Framework for Multi-Contact Multi-Body Dynamic Simulation and Haptic Display},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	month = {October},
	volume = {2},
	pages = {1322--1327},
	address = {Takamatsu, Japan},
	year = {2000}
}

R. Holmberg and O. Khatib.
A Powered-Caster Holonomic Robotic Vehicle for Mobile Manipulation Tasks.
In A. Morecki, G. Binachi, and C. Rzymkowski. Proc. of the CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, pp. 157-167, Zakopane, Poland, July 2000.

@inproceedings{Holmberg:00,
	author = {R.~Holmberg and O.~Khatib},
	title = {A Powered-Caster Holonomic Robotic Vehicle for Mobile Manipulation Tasks},
	booktitle = {Proc. of the CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators},
	editor = {A.~Morecki and G.~Binachi and C.~Rzymkowski},
	month = {July},
	pages = {157--167},
	publisher = {Springer, Vienna, Austria, 1998},
	address = {Zakopane, Poland},
	year = {2000}
}

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

@inproceedings{Ruspini:00,
	author = {D.~C.~Ruspini and O.~Khatib},
	title = {A Framework for Multi-Contact Multi-Body Dynamic Simulation and Haptic Display},
	booktitle = {Proc. of the International Symposium on Advances in Robot Kinematics},
	editor = {J.~Lenar\v{c}i\v{c} and M.~M.~Stanisic},
	month = {June},
	pages = {175--186},
	address = {Piran, Slovenia},
	year = {2000}
}

O. Brock and O. Khatib.
High-Speed Navigation Using the Global Dynamic Window Approach (2.5 min).
In Video Proc. of the IEEE International Conference on Robotics and Automation, San Francisco, CA, USA, April 2000.

@inproceedings{Brock:00,
	author = {O.~Brock and O.~Khatib},
	title = {High-Speed Navigation Using the Global Dynamic Window Approach (2.5 min)},
	booktitle = {Video Proc. of the IEEE International Conference on Robotics and Automation},
	month = {April},
	address = {San Francisco, CA, USA},
	key = {keyVideo},
	year = {2000}
}

A. Bowling and O. Khatib.
Robot Acceleration Capability: The Actuation Efficiency Measure.
In Proc. of the IEEE International Conference on Robotics and Automation, Vol. 4, pp. 3970-3975, San Francisco, CA, USA, April 2000.

@inproceedings{Bowling:00,
	author = {A.~Bowling and O.~Khatib},
	title = {Robot Acceleration Capability: {T}he Actuation Efficiency Measure},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {April},
	volume = {4},
	pages = {3970--3975},
	address = {San Francisco, CA, USA},
	year = {2000}
}

K.-S. Chang and O. Khatib.
Operational Space Dynamics: Efficient Algorithms for Modeling and Control of Branching Mechanisms.
In Proc. of the IEEE International Conference on Robotics and Automation, Vol. 1, pp. 850-856, San Francisco, CA, USA, April 2000.

@inproceedings{Chang:00b,
	author = {K.-S.~Chang and O.~Khatib},
	title = {Operational Space Dynamics: {E}fficient Algorithms for Modeling and Control of Branching Mechanisms},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {April},
	volume = {1},
	pages = {850--856},
	address = {San Francisco, CA, USA},
	year = {2000}
}

H. Bruyninckx and O. Khatib.
Gauss Principle and the Dynamics of Redundant and Constrained Manipulators.
In Proc. of the IEEE International Conference on Robotics and Automation, Vol. 3, pp. 2563-2568, San Francisco, CA, USA, April 2000.

@inproceedings{Bruyninckx:00,
	author = {H.~Bruyninckx and O.~Khatib},
	title = {Gauss Principle and the Dynamics of Redundant and Constrained Manipulators},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {April},
	volume = {3},
	pages = {2563--2568},
	address = {San Francisco, CA, USA},
	year = {2000}
}

O. Brock and O. Khatib.
Real-Time Replanning in High-Dimensional Configuration Spaces Using Sets of Homotopic Paths.
In Proc. of the IEEE International Conference on Robotics and Automation, Vol. 1, pp. 550-555, San Francisco, CA, USA, April 2000.

@inproceedings{Brock:00a,
	author = {O.~Brock and O.~Khatib},
	title = {Real-Time Replanning in High-Dimensional Configuration Spaces Using Sets of Homotopic Paths},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {April},
	volume = {1},
	pages = {550--555},
	address = {San Francisco, CA, USA},
	year = {2000}
}

K.-S. Chang, R. Holmberg, and O. Khatib.
The Augmented Object Model: Cooperative Manipulation and Parallel Mechanism Dynamics.
In Proc. of the IEEE International Conference on Robotics and Automation, Vol. 1, pp. 470-475, San Francisco, CA, USA, April 2000.

@inproceedings{Chang:00,
	author = {K.-S.~Chang and R.~Holmberg and O.~Khatib},
	title = {The Augmented Object Model: Cooperative Manipulation and Parallel Mechanism Dynamics},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {April},
	volume = {1},
	pages = {470--475},
	address = {San Francisco, CA, USA},
	year = {2000}
}

D. C. Ruspini and O. Khatib.
Collision/Contact Models for Dynamic Simulation and Haptic Interaction.
In J. Hollerbach and D. E. Koditschek. Proc. of the International Symposium on Robotics Research, pp. 185-194, Snowbird, UT, USA, October 1999.

@inproceedings{Ruspini:99a,
	author = {D.~C.~Ruspini and O.~Khatib},
	title = {Collision/Contact Models for Dynamic Simulation and Haptic Interaction},
	booktitle = {Proc. of the International Symposium on Robotics Research},
	editor = {J.~Hollerbach and D.~E.~Koditschek},
	month = {October},
	pages = {185--194},
	publisher = {Springer, London, UK, 2000},
	address = {Snowbird, UT, USA},
	year = {1999}
}

K. C. Chang and O. Khatib.
Efficient Algorithm for Extended Operational Space Inertia Matrix.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 350-355, Kyongju, South Korea, October 1999.

@inproceedings{Chang:99,
	author = {K.~C.~Chang and O.~Khatib},
	title = {Efficient Algorithm for Extended Operational Space Inertia Matrix},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	month = {October},
	volume = {1},
	pages = {350--355},
	address = {Kyongju, South Korea},
	year = {1999}
}

R. Jamisola, M. H. Ang, T. M. Lim, O. Khatib, and S.-Y. Lim.
Dynamics Identification and Control of an Industrial Robot.
In Proc. of the IEEE International Conference on Advanced Robotics, pp. 323-328, Tokyo, Japan, October 1999.

@inproceedings{Jamisola:99,
	author = {R.~Jamisola and M.~H.~Ang and T.~M.~Lim and O.~Khatib and S.-Y.~Lim},
	title = {Dynamics Identification and Control of an Industrial Robot},
	booktitle = {Proc. of the IEEE International Conference on Advanced Robotics},
	month = {October},
	pages = {323--328},
	address = {Tokyo, Japan},
	year = {1999}
}

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

@inproceedings{Holmberg:99,
	author = {R.~Holmberg and O.~Khatib},
	title = {Development of a Holonomic Mobile Robot for Mobile Manipulation Tasks},
	booktitle = {Proc. of the International Conference on Field and Service Robotics},
	month = {August},
	pages = {268--273},
	address = {Pittsburgh, PA, USA},
	year = {1999}
}

O. Brock and O. Khatib.
Real-Time Obstacle Avoidance and Motion Coordination in a Multi-Robot Workcell.
In Proc. of the IEEE International Symposium on Assembly and Task Planning, pp. 274-279, Porto, Portugal, July 1999.

@inproceedings{Brock:99b,
	author = {O.~Brock and O.~Khatib},
	title = {Real-Time Obstacle Avoidance and Motion Coordination in a Multi-Robot Workcell},
	booktitle = {Proc. of the IEEE International Symposium on Assembly and Task Planning},
	month = {July},
	pages = {274--279},
	address = {Porto, Portugal},
	year = {1999}
}

O. Khatib, K. Yokoi, O. Brock, K. Chang, and A. Casal.
Robots in Human Environments.
In Proc. of the International Workshop on Robot Motion and Control, pp. 213-221, Kiekrz, Poland, June 1999.

@inproceedings{Khatib:99b,
	author = {O.~Khatib and K.~Yokoi and O.~Brock and K.~Chang and A.~Casal},
	title = {Robots in Human Environments},
	booktitle = {Proc. of the International Workshop on Robot Motion and Control},
	month = {June},
	pages = {213--221},
	address = {Kiekrz, Poland},
	year = {1999}
}

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

@inproceedings{Ruspini:99,
	author = {D.~C.~Ruspini and O.~Khatib},
	title = {Haptics for Virtual Prototyping},
	booktitle = {Proc. of the Tenth {I}{F}{T}{o}{M}{M} World Congress on the Theory of Machines and Mechanisms},
	month = {June},
	volume = {3},
	pages = {924--929},
	address = {Oulu, Finland},
	year = {1999}
}

O. Khatib, O. Brock, K. Yokoi, and R. Holmberg.
Dancing with Juliet (2.5 min).
In Video Proc. of the IEEE International Conference on Robotics and Automation, Detroit, MI, USA, May 1999.

@inproceedings{Khatib:99,
	author = {O.~Khatib and O.~Brock and K.~Yokoi and R.~Holmberg},
	title = {Dancing with Juliet (2.5 min)},
	booktitle = {Video Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	address = {Detroit, MI, USA},
	key = {keyVideo},
	year = {1999}
}

R. Featherstone, S. SonckThiebaut, and O. Khatib.
A General Contact Model for Dynamically-Decoupled Force/Motion Control.
In Proc. of the IEEE International Conference on Robotics and Automation, Vol. 4, pp. 3281-3286, Detroit, MI, USA, May 1999.

@inproceedings{Featherstone:99,
	author = {R.~Featherstone and S.~Sonck Thiebaut and O.~Khatib},
	title = {A General Contact Model for Dynamically-Decoupled Force/Motion Control},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	volume = {4},
	pages = {3281--3286},
	address = {Detroit, MI, USA},
	year = {1999}
}

O. Brock and O. Khatib.
High-Speed Navigation Using the Global Dynamic Window Approach.
In Proc. of the IEEE International Conference on Robotics and Automation, Vol. 1, pp. 341-346, Detroit, MI, USA, May 1999.

@inproceedings{Brock:99a,
	author = {O.~Brock and O.~Khatib},
	title = {High-Speed Navigation Using the Global Dynamic Window Approach},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	volume = {1},
	pages = {341--346},
	address = {Detroit, MI, USA},
	year = {1999}
}

M. Van Der Loos, J. J. Wagner, N. Smaby, K. Chang, O. Madrigal, L. J. Leifer, and O. Khatib.
ProVAR Assistive Robot System Architecture.
In Proc. of the IEEE International Conference on Robotics and Automation, Vol. 1, pp. 741-746, Detroit, MI, USA, May 1999.

@inproceedings{VanDerLoos:99,
	author = {M.~Van~Der~Loos and J.~J.~Wagner and N.~Smaby and K.~Chang and O.~Madrigal and L.~J.~Leifer and O.~Khatib},
	title = {Pro{V}{A}{R} Assistive Robot System Architecture},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	volume = {1},
	pages = {741--746},
	address = {Detroit, MI, USA},
	year = {1999}
}

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

@inproceedings{Khatib:99a,
	author = {O.~Khatib},
	title = {The Stanford Robotics Platforms},
	booktitle = {Proc. of the First Asian Symposium on Industrial Automation and Robotics},
	pages = {1--4},
	address = {Bangkok, Thailand},
	month = {May},
	year = {1999}
}

O. Brock and O. Khatib.
Elastic Strips: A Framework for Integrated Planning and Execution.
In P. I. Corke and J. P. Trevelyan. Experimental Robotics VI, Proc. of the International Symposium on Experimental Robotics, pp. 329-338, Sydney, Australia, March 1999.

@inproceedings{Brock:99,
	author = {O.~Brock and O.~Khatib},
	title = {Elastic Strips: {A} Framework for Integrated Planning and Execution},
	booktitle = {Experimental Robotics VI, Proc. of the International Symposium on Experimental Robotics},
	editor = {P.~I.~Corke and J.~P.~Trevelyan},
	pages = {329--338},
	address = {Sydney, Australia},
	publisher = {Springer-Verlag, Berlin, Heidelberg, Germany, 2000},
	month = {March},
	year = {1999}
}

E. Coste-Maniere, N. Turro, and O. Khatib.
A Portable Programming Framework.
In P. I. Corke and J. P. Trevelyan. Experimental Robotics VI, Proc. of the International Symposium on Experimental Robotics, pp. 379-389, Sydney, Australia, March 1999.

@inproceedings{Coste-Maniere:99,
	author = {E.~Coste-Maniere and N.~Turro and O.~Khatib},
	title = {A Portable Programming Framework},
	booktitle = {Experimental Robotics VI, Proc. of the International Symposium on Experimental Robotics},
	editor = {P.~I.~Corke and J.~P.~Trevelyan},
	pages = {379--389},
	address = {Sydney, Australia},
	publisher = {Springer-Verlag, Berlin, Heidelberg, Germany, 2000},
	month = {March},
	year = {1999}
}

A. Bowling and O. Khatib.
The Motion Isotropy Hypersurface: A Characterization of Acceleration.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, pp. 965-971, Victoria, BC, Canada, October 1998.

@inproceedings{Bowling:98a,
	author = {A.~Bowling and O.~Khatib},
	title = {The Motion Isotropy Hypersurface: {A} Characterization of Acceleration},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	month = {October},
	volume = {2},
	pages = {965--971},
	address = {Victoria, BC, Canada},
	year = {1998}
}

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

@inproceedings{Ruspini:98a,
	author = {D.~C.~Ruspini and O.~Khatib},
	title = {Haptics for Multi-Scale Virtual Prototyping},
	booktitle = {Proc. of the Second International Workshop on Micro Robotics and Systems},
	month = {October},
	pages = {172--179},
	address = {Beijing, China},
	year = {1998}
}

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

@inproceedings{Khatib:98a,
	author = {O.~Khatib and K.~Yokoi and O.~Brock and K.~Chang and A.~Casal},
	title = {Robots in Human Environment: {B}asic Autonomous Capabilities},
	booktitle = {Proc. of the IARP First International Workshop on Humanoid and Human-Friendly Robotics},
	month = {October},
	pages = {III-2:1-11},
	address = {Tsukuba, Japan},
	year = {1998}
}

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

@inproceedings{Mooney:98,
	author = {V.~J.~Mooney and D.~C.~Ruspini and O.~Khatib and G.~De~Micheli},
	title = {Hardware- Software Run-Time Systems and Robotics: {A} Case Study},
	booktitle = {Proc. of the Euromicro Conference},
	month = {August},
	volume = {1},
	pages = {162--167},
	address = {V{\"a}steras, Sweden},
	year = {1998}
}

A. Bowling and O. Khatib.
Modular Redundant Manipulator Design for Dynamic Performance.
In A. Morecki, G. Binachi, and M. Wojtyra. Proc. of the CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, pp. 297-307, Paris, France, July 1998.

@inproceedings{Bowling:98,
	author = {A.~Bowling and O.~Khatib},
	title = {Modular Redundant Manipulator Design for Dynamic Performance},
	booktitle = {Proc. of the CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators},
	editor = {A.~Morecki and G.~Binachi and M.~Wojtyra},
	month = {July},
	pages = {297--307},
	publisher = {Springer, Vienna, Austria, 1998},
	address = {Paris, France},
	year = {1998}
}

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

@inproceedings{Ruspini:98,
	author = {D.~C.~Ruspini and O.~Khatib},
	title = {Dynamic Models for Haptic Rendering Systems},
	booktitle = {Proc. of the International Symposium on Advances in Robot Kinematics},
	month = {June},
	pages = {523--532},
	address = {Strobl/Salzburg, Austria},
	year = {1998}
}

O. Brock and O. Khatib.
Executing Motion Plans for Robots with Many Degrees of Freedom in Dynamic Environments.
In Proc. of the IEEE International Conference on Robotics and Automation, Vol. 1, pp. 1-6, Leuven, Belgium, May 1998.

@inproceedings{Brock:98b,
	author = {O.~Brock and O.~Khatib},
	title = {Executing Motion Plans for Robots with Many Degrees of Freedom in Dynamic Environments},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	volume = {1},
	pages = {1--6},
	address = {Leuven, Belgium},
	year = {1998}
}

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

@inproceedings{Brock:98,
	author = {O.~Brock and O.~Khatib},
	title = {Mobile Manipulation: {C}ollision-Free Path Modification and Motion Coordination},
	booktitle = {Proc. of the Second International Conference on Computational Engineering in Systems Applications},
	month = {April},
	volue = {4},
	pages = {839--845},
	address = {Hammamet, Tunisia},
	year = {1998}
}

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

@inproceedings{Khatib:98,
	author = {O. Khatib and K.~Yokoi and A.~Casal},
	title = {Cooperative Tasks in Mobile Manipulation Systems},
	booktitle = {Proc. of the IFAC Workshop on Intelligent Components for Vehicles},
	editor = {A.~Ollero},
	month = {March},
	pages = {245--250},
	address = {Seville, Spain},
	year = {1998}
}

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

@inproceedings{Khatib:97b,
	author = {O.~Khatib},
	title = {Mobile Manipulators: {E}xpending the Frontiers of Robot Applications},
	booktitle = {Proc. of the International Conference on Field and Service Robotics},
	month = {December},
	pages = {14--17},
	address = {Canberra, Australia},
	year = {1997}
}

O. Brock and O. Khatib.
Elastic Strips: Real-Time Path Modification for Mobile Manipulation.
In Y. Shirai and S. Hirose. Proc. of the International Symposium on Robotics Research, pp. 5-13, Hayama, Japan, October 1997.

@inproceedings{Brock:97,
	author = {O.~Brock and O.~Khatib},
	title = {Elastic Strips: Real-Time Path Modification for Mobile Manipulation},
	booktitle = {Proc. of the International Symposium on Robotics Research},
	editor = {Y.~Shirai and S.~Hirose},
	month = {October},
	pages = {5--13},
	publisher = {Springer, Berlin, Heidelberg, Germany, 1998},
	address = {Hayama, Japan},
	year = {1997}
}

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

@inproceedings{Ruspini:97b,
	author = {D.~C.~Ruspini},
	title = {Adding Motion to Constraint Based Haptic Rendering Systems: Issues and Solutions},
	booktitle = {Proc. of the Second {P}{H}{A}{N}{T}{o}{M} Users Group Workshop},
	month = {October},
	pages = {453--460},
	address = {Dedham, MA, USA},
	year = {1997}
}

D. C. Ruspini, K. Kolarov, and O. Khatib.
Haptic Interaction in Virtual Environments.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 128-133, Grenoble, France, September 1997.

@inproceedings{Ruspini:97a,
	author = {D.~C.~Ruspini and K.~Kolarov and O.~Khatib},
	title = {Haptic Interaction in Virtual Environments},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	month = {September},
	volume = {1},
	pages = {128--133},
	address = {Grenoble, France},
	year = {1997}
}

D. C. Ruspini, K. Kolarov, and O. Khatib.
The Haptic Display of Complex Graphical Environments.
In Proc. of the 24th Annual Conference on Computer Graphics and Interactive Techniques, pp. 345-352, Los Angeles, CA, USA, August 1997.

@inproceedings{Ruspini:97,
	author = {D.~C.~Ruspini and K.~Kolarov and O.~Khatib},
	title = {The Haptic Display of Complex Graphical Environments},
	booktitle = {Proc. of the 24th Annual Conference on Computer Graphics and Interactive Techniques},
	pages = {345--352},
	address = {Los Angeles, CA, USA},
	publisher = {ACM Press/Addison-Wesley Publishing Co., New York, NY, USA},
	month = {August},
	year = {1997}
}

A. Bowling and O. Khatib.
Design of Macro/Mini Manipulators for Optimal Dynamic Performance.
In Proc. of the IEEE International Conference on Robotics and Automation, Vol. 1, pp. 449-454, Albuquerque, NM, USA, April 1997.

@inproceedings{Bowling:97,
	author = {A.~Bowling and O.~Khatib},
	title = {Design of Macro/Mini Manipulators for Optimal Dynamic Performance},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {April},
	volume = {1},
	pages = {449--454},
	address = {Albuquerque, NM, USA},
	year = {1997}
}

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

@inproceedings{Liu:97b,
	author = {J.~Liu and Y.~Y.~Tang and O.~Khatib},
	title = {Robot Learning and Planning Based on Discrete-Event Systems Models},
	booktitle = {Proc. of the Workshop on Intelligent Robotics: From the Structured to Less Structured Environments},
	pages = {57--62},
	address = {Hong Kong},
	month = {July},
	year = {1997}
}

R. Featherstone, S. Sonck, and O. Khatib.
A General Contact Model for Dynamically-Decoupled Force/Motion Control.
In A. Casals and A. T. de Almeida. Experimental Robotics V, Proc. of the International Symposium on Experimental Robotics, pp. 128-139, Barelona, Catalonia, Spain, June 1997.

@inproceedings{Featherstone:97,
	author = {R.~Featherstone and S.~Sonck and O.~Khatib},
	title = {A General Contact Model for Dynamically-Decoupled Force/Motion Control},
	booktitle = {Experimental Robotics V, Proc. of the International Symposium on Experimental Robotics},
	editor = {A.~Casals and A.~T.~de~Almeida},
	pages = {128--139},
	address = {Barelona, Catalonia, Spain},
	publisher = {Springer-Verlag, Berlin, Heidelberg, Germany, 1998},
	month = {June},
	year = {1997}
}

J. Liu, Y. Y. Tang, and O. Khatib.
Modeling and Learning Robot Manipulation Strategies.
In A. Casals and A. T. de Almeida. Experimental Robotics V, Proc. of the International Symposium on Experimental Robotics, pp. 687-700, Barelona, Catalonia, Spain, June 1997.

@inproceedings{Liu:97,
	author = {J.~Liu and Y.~Y.~Tang and O.~Khatib},
	title = {Modeling and Learning Robot Manipulation Strategies},
	booktitle = {Experimental Robotics V, Proc. of the International Symposium on Experimental Robotics},
	editor = {A.~Casals and A.~T.~de~Almeida},
	pages = {687--700},
	address = {Barelona, Catalonia, Spain},
	publisher = {Springer-Verlag, Berlin, Heidelberg, Germany, 1998},
	month = {June},
	year = {1997}
}

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

@inproceedings{Khatib:97a,
	author = {O.~Khatib},
	title = {Mobile Robotic Manipulation},
	booktitle = {Proc. of the International Conference on Informatics and Control},
	month = {June},
	pages = {33--39},
	address = {St. Petersburg, Russia},
	year = {1997}
}

O. Khatib, K. Yokoi, K. Chang, and A. Casal.
The Stanford Robotic Platforms (2.5 min).
In Video Proc. of the IEEE International Conference on Robotics and Automation, Albuquerque, NM, USA, April 1997.

@inproceedings{Khatib:97,
	author = {O.~Khatib and K.~Yokoi and K.~Chang and A.~Casal},
	title = {The Stanford Robotic Platforms (2.5 min)},
	booktitle = {Video Proc. of the IEEE International Conference on Robotics and Automation},
	month = {April},
	address = {Albuquerque, NM, USA},
	key = {keyVideo},
	year = {1997}
}

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

@inproceedings{Ruspini:96,
	author = {D.~C.~Ruspini and K.~Kolarov and O.~Khatib},
	title = {The Robust Haptic Display of Graphical Environments},
	booktitle = {Proc. of the First {P}{H}{A}{N}{T}{o}{M} Users Group Workshop, AI Lab Technical Report No. 1596 and RLE Technical Report No. 612},
	editor = {J.~K.~Salisbury and M.~A.~Srinivasan},
	month = {December},
	address = {Cambridge, MA, USA},
	year = {1996}
}

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

@inproceedings{Khatib:96g,
	author = {O.~Khatib and K.~Yokoi and K.~Chang and D.~C.~Ruspini and R.~Holmberg and A.~Casal},
	title = {Decentralized Cooperation Between Multiple Manipulators},
	booktitle = {Proc. of the Fith IEEE International Workshop on Robot and Human Communication},
	month = {November},
	pages = {183--188},
	address = {Tsukuba, Japan},
	year = {1996}
}

O. Khatib, K. Yokoi, K. Chang, D. C. Ruspini, R. Holmberg, and A. Casal.
Vehicle/Arm Coordination and Multiple Mobile Manipulator Decentralized Cooperation.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, pp. 546-553, Osaka, Japan, November 1996.

@inproceedings{Khatib:96f,
	author = {O.~Khatib and K.~Yokoi and K.~Chang and D.~C.~Ruspini and R.~Holmberg and A.~Casal},
	title = {Vehicle/Arm Coordination and Multiple Mobile Manipulator Decentralized Cooperation},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	month = {November},
	volume = {2},
	pages = {546--553},
	address = {Osaka, Japan},
	year = {1996}
}

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

@inproceedings{Ruspini:96a,
	author = {D.~C.~Ruspini},
	title = {Graphical and Haptic Manipulation of 3D Objects},
	booktitle = {Proc. of the First {P}{H}{A}{N}{T}{o}{M} Users Group Workshop},
	month = {September},
	pages = {453--460},
	address = {Dedham, MA, USA},
	year = {1996}
}

O. Khatib.
Mobile Manipulator Systems.
In A. Morecki, G. Binachi, and C. Rzymkowski. Proc. of the CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, pp. 3-10, Udine, Italy, July 1996.

@inproceedings{Khatib:96d,
	author = {O.~Khatib},
	title = {Mobile Manipulator Systems},
	editor = {A.~Morecki and G.~Binachi and C.~Rzymkowski},
	booktitle = {Proc. of the CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators},
	month = {July},
	pages = {3--10},
	publisher = {Springer, Vienna, Austria, 1995},
	address = {Udine, Italy},
	year = {1996}
}

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

@inproceedings{Williams:96,
	author = {D.~Williams and O.~Khatib},
	title = {Wrist Force Sensor Feedback for Improved Actuation Performance in Conventional Arms},
	booktitle = {Proc. of the 13th {I}{F}{A}{C} World Congress},
	month = {July},
	pages = {19--24},
	address = {San Francisco, CA, USA},
	year = {1996}
}

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

@inproceedings{Khatib:96e,
	author = {O.~Khatib and A.~Bowling},
	title = {Manipulator Design for Dynamic Performance},
	booktitle = {Proc. of the International Symposium on Advances in Robot Kinematics},
	pages = {29--38},
	month = {June},
	address = {Portoroz, Slovenia},
	year = {1996}
}

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

@inproceedings{Khatib:96c,
	author = {O.~Khatib and K.~Yokoi and K.~Chang and D.~C.~Ruspini and R.~Holmberg and A.~Casal},
	title = {Cooperative Tasks in Multiple Mobile Manipulation Systems},
	booktitle = {Proc. of the Sixth International Symposium on Robotics and Manufacturing},
	month = {May},
	pages = {345--350},
	address = {Montpellier, France},
	year = {1996}
}

O. Khatib, K. Yokoi, K. Chang, D. C. Ruspini, R. Holmberg, A. Casal, and A. Baader.
The Robotic Assistant (2.5 min).
In Video Proc. of the IEEE International Conference on Robotics and Automation, Minneapolis, MN, USA, April 1996.

@inproceedings{Khatib:96,
	author = {O.~Khatib and K.~Yokoi and K.~Chang and D.~C.~Ruspini and R.~Holmberg and A.~Casal and A.~Baader},
	title = {The Robotic Assistant (2.5 min)},
	booktitle = {Video Proc. of the IEEE International Conference on Robotics and Automation},
	month = {April},
	address = {Minneapolis, MN, USA},
	key = {keyVideo},
	year = {1996}
}

J. Russakow, S. Rock, and O. Khatib.
An Operational Space Formulation for Free-Flying, Multi-Arm Space Robot (3 min).
In Video Proc. of the IEEE International Conference on Robotics and Automation, Minneapolis, MN, USA, April 1996.

@inproceedings{Russakow:96,
	author = {J.~Russakow and S.~Rock and O.~Khatib},
	title = {An Operational Space Formulation for Free-Flying, Multi-Arm Space Robot (3 min)},
	booktitle = {Video Proc. of the IEEE International Conference on Robotics and Automation},
	month = {April},
	address = {Minneapolis, MN, USA},
	key = {keyVideo},
	year = {1996}
}

O. Khatib and A. Bowling.
Optimization of the Inertial and Acceleration Characteristics of Manipulators.
In Proc. of the IEEE International Conference on Robotics and Automation, Vol. 4, pp. 2883-2889, Minneapolis, MN, USA, April 1996.

@inproceedings{Khatib:96b,
	author = {O.~Khatib and A.~Bowling},
	title = {Optimization of the Inertial and Acceleration Characteristics of Manipulators},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {April},
	volume = {4},
	pages = {2883--2889},
	address = {Minneapolis, MN, USA},
	year = {1996}
}

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

@inproceedings{Khatib:96a,
	author = {Y.~Abdel-Magid and O.~Khatib},
	title = {Design of Digital Adaptive Algorithm for Torque-Controlled Robotic Joints},
	booktitle = {Proc. of the Sixth International Conference on Mechanical Design and Production},
	pages = {461--468},
	address = {Cairo, Egypt},
	month = {January},
	year = {1996}
}

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

@inproceedings{Khatib:95d,
	author = {O.~Khatib},
	title = {Robot Planning and Control},
	booktitle = {Proc. of the International Workshop on Critical Issues in Robotics},
	pages = {65--80},
	address = {Singapore},
	month = {October},
	year = {1995}
}

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

@inproceedings{Khatib:95c,
	author = {O.~Khatib and A.~Bowling},
	title = {Optimization of the Inertial and Acceleration Characteristics of Non-Redundant Manipulators},
	booktitle = {Proc. of the Third Conference on Mechatronics and Robotics},
	pages = {500--510},
	address = {Paderborn, Germany},
	month = {October},
	year = {1995}
}

O. Khatib, K. Yokoi, K. Chang, D. C. Ruspini, R. Holmberg, A. Casal, and A. Baader.
Force Strategies for Cooperative Tasks in Multiple Mobile Manipulation Systems.
In G. Giralt and G. Hirzinger. Proc. of the International Symposium on Robotics Research, pp. 333-342, Herrsching, Germany, October 1995.

@inproceedings{Khatib:95e,
	author = {O.~Khatib and K.~Yokoi and K.~Chang and D.~C.~Ruspini and R.~Holmberg and A.~Casal and A.~Baader},
	title = {Force Strategies for Cooperative Tasks in Multiple Mobile Manipulation Systems},
	booktitle = {Proc. of the International Symposium on Robotics Research},
	editor = {G.~Giralt and G.~Hirzinger},
	publisher = {Springer, Berlin, Heidelberg, Germany, 1996},
	address = {Herrsching, Germany},
	month = {October},
	pages = {333--342},
	year = {1995}
}

J. Russakow, S. Rock, and O. Khatib.
An Operational Space Formulation for Free-Flying, Multi-Arm Space Robot.
In O. Khatib and J. K. Salisbury. Experimental Robotics IV, Proc. of the International Symposium on Experimental Robotics, pp. 448-457, Stanford, CA, USA, June 1995.

@inproceedings{Russakow:95b,
	author = {J.~Russakow and S.~Rock and O.~Khatib},
	title = {An Operational Space Formulation for Free-Flying, Multi-Arm Space Robot},
	booktitle = {Experimental Robotics IV, Proc. of the International Symposium on Experimental Robotics},
	editor = {O.~Khatib and J.~K.~Salisbury},
	pages = {448--457},
	address = {Stanford, CA, USA},
	publisher = {Springer-Verlag, Berlin, Heidelberg, Germany, 1997},
	month = {June},
	year = {1995}
}

D. Williams and O. Khatib.
Improved Force Control for Conventional Arms Using Wrist-Based Torque Feedback.
In O. Khatib and J. K. Salisbury. Experimental Robotics IV, Proc. of the International Symposium on Experimental Robotics, pp. 516-525, Stanford, CA, USA, June 1995.

@inproceedings{Williams:95b,
	author = {D.~Williams and O.~Khatib},
	title = {Improved Force Control for Conventional Arms Using Wrist-Based Torque Feedback},
	booktitle = {Experimental Robotics IV, Proc. of the International Symposium on Experimental Robotics},
	editor = {O.~Khatib and J.~K.~Salisbury},
	pages = {516--525},
	address = {Stanford, CA, USA},
	publisher = {Springer-Verlag, Berlin, Heidelberg, Germany, 1997},
	month = {June},
	year = {1995}
}

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

@inproceedings{Khatib:95b,
	author = {O.~Khatib},
	title = {Mobile Robotic Manipulation},
	booktitle = {Proc. 26th Int. Symposium on Industrial Robotics},
	month = {October},
	pages = {7--12},
	address = {Singapore},
	year = {1995}
}

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

@inproceedings{Khatib:95a,
	author = {O.~Khatib},
	title = {Cooperative Manipulation in Mobile Robotic Systems},
	booktitle = {Proc. of the Ninth IFToMM World Congress on the Theory of Machines and Mechanisms},
	month = {August},
	volume = {3},
	pages = {2343--2347},
	address = {Milan, Italy},
	year = {1995}
}

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

@inproceedings{Khatib:95,
	author = {O.~Khatib},
	title = {Sensor-Based Control of Robots},
	booktitle = {Proc. of the International Conference on Recent Advances in Mechatronics},
	month = {August},
	pages = {1120--1125},
	address = {Istanbul, Turkey},
	year = {1995}
}

A. Bowling and O. Khatib.
Analysis of the Acceleration Characteristics of Non-Redundant Manipulators.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, pp. 323-328, Pittsburgh, PA, USA, August 1995.

@inproceedings{Bowling:95,
	author = {A.~Bowling and O.~Khatib},
	title = {Analysis of the Acceleration Characteristics of Non-Redundant Manipulators},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	month = {August},
	volume = {2},
	pages = {323--328},
	address = {Pittsburgh, PA, USA},
	year = {1995}
}

K. Chang and O. Khatib.
Manipulator Control at Kinematic Singularities: A Dynamically Consistent Strategy.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 3, pp. 84-88, Pittsburgh, PA, USA, August 1995.

@inproceedings{Chang:95,
	author = {K.~Chang and O.~Khatib},
	title = {Manipulator Control at Kinematic Singularities: {A} Dynamically Consistent Strategy},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	month = {August},
	volume = {3},
	pages = {84--88},
	address = {Pittsburgh, PA, USA},
	year = {1995}
}

D. Williams and O. Khatib.
Improved Force Control for Conventional Arms Using Wrist-Based Torque Feedback (3 min).
In O. Khatib and J. K. Salisbury. Video Proc. of the International Symposium on Experimental Robotics, Stanford, CA, USA, June 1995.

@inproceedings{Williams:95a,
	author = {D.~Williams and O.~Khatib},
	title = {Improved Force Control for Conventional Arms Using Wrist-Based Torque Feedback (3 min)},
	booktitle = {Video Proc. of the International Symposium on Experimental Robotics},
	editor = {O.~Khatib and J.~K.~Salisbury},
	month = {June},
	address = {Stanford, CA, USA},
	key = {keyVideo},
	year = {1995}
}

J. Russakow, O. Khatib, and S. Rock.
Extended Operational Space Formulation for Serial-to-Parallel Chain (Branching) Manipulators.
In Proc. of the IEEE International Conference on Robotics and Automation, Vol. 1, pp. 1056-1061, Nagoya, Japan, May 1995.

@inproceedings{Russakow:95a,
	author = {J.~Russakow and O.~Khatib and S.~Rock},
	title = {Extended Operational Space Formulation for Serial-to-Parallel Chain (Branching) Manipulators},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	volume = {1},
	pages = {1056--1061},
	address = {Nagoya, Japan},
	year = {1995}
}

J. Russakow, S. Rock, and O. Khatib.
An Operational Space Formulation for Free-Flying, Multi-Arm Space Robot (3 min).
In O. Khatib and J. K. Salisbury. Video Proc. of the International Symposium on Experimental Robotics, Stanford, CA, USA, June 1995.

@inproceedings{Russakow:95,
	author = {J.~Russakow and S.~Rock and O.~Khatib},
	title = {An Operational Space Formulation for Free-Flying, Multi-Arm Space Robot (3 min)},
	booktitle = {Video Proc. of the International Symposium on Experimental Robotics},
	editor = {O.~Khatib and J.~K.~Salisbury},
	month = {June},
	address = {Stanford, CA, USA},
	key = {keyVideo},
	year = {1995}
}

D. Williams and O. Khatib.
Multi-Grasp Manipulation (3 min).
In Video Proc. of the IEEE International Conference on Robotics and Automation, Nagoya, Japan, May 1995.

@inproceedings{Williams:95,
	author = {D.~Williams and O.~Khatib},
	title = {Multi-Grasp Manipulation (3 min)},
	booktitle = {Video Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	address = {Nagoya, Japan},
	key = {keyVideo},
	year = {1995}
}

O. Khatib.
A Framework for Task-Level Robotics Manipulation.
In T. Kanade and R. Paul. Proc. of the International Symposium on Robotics Research, pp. 287-304, 1994.

@inproceedings{Khatib:94e,
	author = {O.~Khatib},
	title = {A Framework for Task-Level Robotics Manipulation},
	booktitle = {Proc. of the International Symposium on Robotics Research},
	editor = {T.~Kanade and R.~Paul},
	publisher = {The {M}{I}{T} Press, Cambridge, MA, USA},
	pages = {287--304},
	year = {1994}
}

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

@inproceedings{Khatib:94d,
	author = {O.~Khatib},
	title = {Sensor-Based Robotic Manipulation},
	booktitle = {Proc. of the Secondnd Japan-France Congress on Mechatronics},
	month = {November},
	pages = {193--198},
	address = {Takamatsu, Japan},
	year = {1994}
}

A. Bowling and O. Khatib.
Analysis of the Acceleration Characteristics of Manipulators.
In A. Morecki, G. Binachi, and K. Jaworek. Proc. of the CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, pp. 59-64, Gdansk, Poland, September 1994.

@inproceedings{Bowling:94,
	author = {A.~Bowling and O.~Khatib},
	title = {Analysis of the Acceleration Characteristics of Manipulators},
	editor = {A.~Morecki and G.~Binachi and K.~Jaworek},
	booktitle = {Proc. of the CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators},
	month = {September},
	pages = {59--64},
	publisher = {Springer, Vienna, Austria, 1995},
	address = {Gdansk, Poland},
	year = {1994}
}

O. Khatib.
Towards Integrated Planning and Control.
In Proc. of the Fourth IFAC Symposium on Robot Control, pp. 351-360, Capri, Italy, September 1994.

@inproceedings{Khatib:94c,
	author = {O.~Khatib},
	title = {Towards Integrated Planning and Control},
	booktitle = {Proc. of the Fourth IFAC Symposium on Robot Control},
	month = {September},
	pages = {351--360},
	address = {Capri, Italy},
	year = {1994}
}

K.-S. Chang and O. Khatib.
Dynamically Consistent Strategy for Manipulator Control at Singularities.
In J. Lenarcic and B. Ravani. Proc. of the International Symposium on Advances in Robot Kinematics, pp. 221-228, Ljubljana, Slovenia, 1994.

@inproceedings{Chang:94,
	author = {K.-S.~Chang and O.~Khatib},
	title = {Dynamically Consistent Strategy for Manipulator Control at Singularities},
	booktitle = {Proc. of the International Symposium on Advances in Robot Kinematics},
	editor = {J.~Lenar\v{c}i\v{c} and B.~Ravani},
	publisher = {Kluwer Academic Publishers},
	pages = {221--228},
	address = {Ljubljana, Slovenia},
	year = {1994}
}

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

@inproceedings{Williams:94,
	author = {D.~Williams and O.~Khatib},
	title = {Modeling and Control of Internal Force Dynamics in Multi-Grasp Manipulation},
	booktitle = {Proc. of the Fifth International Symposium on Robotics and Manufacturing},
	editor = {M.~Jamshidl and C.~Nauyen and R.~Lumia and J.~Yuh},
	month = {August},
	volume = {5},
	publisher = {ASME Press, New York, NY, USA},
	pages = {735--741},
	address = {Maui, HI, USA},
	year = {1994}
}

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

@inproceedings{Khatib:94b,
	author = {H.~Arai and O.~Khatib},
	title = {Experiments with Dynamic Skills},
	booktitle = {Proc. of the Japan-USA Symposium on Flexible Automation},
	pages = {81--84},
	address = {Kyoto, Japan},
	month = {July},
	year = {1994}
}

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

@inproceedings{Khatib:94a,
	author = {O.~Khatib},
	title = {Cooperative Mobile Robotic Manipulation},
	booktitle = {Proc. of the International Conference on Robotics, Vision and Parallel Processing for Industrial Automation},
	month = {May},
	pages = {371--377},
	address = {Perak, Malaysia},
	year = {1994}
}

P. U. Lee, D. C. Ruspini, and O. Khatib.
Dynamic Simulation of Interactive Robotic Environment.
In Proc. of the IEEE International Conference on Robotics and Automation, Vol. 2, pp. 1147-1152, San Diego, CA, USA, May 1994.

@inproceedings{Lee:94,
	author = {P.~U.~Lee and D.~C.~Ruspini and O.~Khatib},
	title = {Dynamic Simulation of Interactive Robotic Environment},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	volume = {2},
	pages = {1147--1152},
	address = {San Diego, CA, USA},
	year = {1994}
}

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

@inproceedings{Woodfill:94,
	author = {J.~Woodfill, R.~Zabih, and O.~Khatib},
	title = {Real-time Motion Vision for Robot Control in Unstructured Environments},
	booktitle = {Proc. of the {A}{S}{C}{E} Conference on Robotics in Challenging Environments},
	editor = {L.~A.~Demsetz and P.~R.~Klarer},
	month = {February},
	pages = {10--18},
	publisher = {ASCE, New York, NY, USA},
	address = {Albuquerque, NM, USA},
	year = {1994}
}

D. Williams and O. Khatib.
Experiments in Multi-Grasp Manipulation (3 min).
In T. Yoshikawa and F. Miyazaki. Video Proc. of the International Symposium on Experimental Robotics, Kyoto, Japan, October 1993.

@inproceedings{Williams:93,
	author = {D.~Williams and O.~Khatib},
	title = {Experiments in Multi-Grasp Manipulation (3 min)},
	booktitle = {Video Proc. of the International Symposium on Experimental Robotics},
	editor = {T.~Yoshikawa and F.~Miyazaki},
	month = {October},
	address = {Kyoto, Japan},
	key = {keyVideo},
	year = {1993}
}

D. Williams and O. Khatib.
The Virtual Linkage: A Model for Internal Forces in Multi-Grasp Manipulation.
In Proc. of the IEEE International Conference on Robotics and Automation, Vol. 1, pp. 1025-1030, Atlanta, GA, USA, May 1993.

@inproceedings{Williams:93a,
	author = {D.~Williams and O.~Khatib},
	title = {The Virtual Linkage: {A} Model for Internal Forces in Multi-Grasp Manipulation},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	volume = {1},
	pages = {1025--1030},
	address = {Atlanta, GA, USA},
	year = {1993}
}

S. Quinlan and O. Khatib.
Elastic Bands: Connecting Path Planning and Control.
In Proc. of the IEEE International Conference on Robotics and Automation, Vol. 2, pp. 802-807, Atlanta, GA, USA, May 1993.

@inproceedings{Quinlan:93a,
	author = {S.~Quinlan and O.~Khatib},
	title = {Elastic Bands: {C}onnecting Path Planning and Control},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	volume = {2},
	pages = {802--807},
	address = {Atlanta, GA, USA},
	year = {1993}
}

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

@inproceedings{Vischer:93,
	author = {D.~Vischer and O.~Khatib},
	title = {Design and Development of Torque-Controlled Joints (3 min)},
	booktitle = {Video Proc. of Experimental Robotics I and II: Int. Symposia on Experimental Robotics},
	editor = {O.~Khatib and V.~Hayward and R.~Chatila},
	key = {keyVideo,keyPlanning},
	year = {1993}
}

D. Williams and O. Khatib.
Towards Real-Time Execution of Motion Tasks.
In T. Yoshikawa and F. Miyazaki. Experimental Robotics III, Proc. of the International Symposium on Experimental Robotics, pp. 14-28, Kyoto, Japan, October 1993.

@inproceedings{Williams:93b,
	author = {D.~Williams and O.~Khatib},
	title = {Towards Real-Time Execution of Motion Tasks},
	booktitle = {Experimental Robotics III, Proc. of the International Symposium on Experimental Robotics},
	editor = {T.~Yoshikawa and F.~Miyazaki},
	pages = {14--28},
	address = {Kyoto, Japan},
	publisher = {Springer-Verlag, Berlin, Heidelberg, Germany, 1994},
	month = {October},
	year = {1993}
}

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

@inproceedings{Quinlan:93,
	author = {S.~Quinlan and O.~Khatib},
	title = {Towards Real-Time Execution of Motion Tasks (3 min)},
	booktitle = {Video Proc. of Experimental Robotics I and II: Int. Symposia on Experimental Robotics},
	editor = {O.~Khatib and V.~Hayward and R.~Chatila},
	key = {keyVideo,keyPlanning},
	year = {1993}
}

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

@inproceedings{Khatib:93c,
	author = {O.~Khatib},
	title = {Mobile Robotic Manipulation},
	booktitle = {Proc. of the GMA Conference},
	pages = {51--66},
	address = {Langen, Germany},
	year = {1993}
}

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

@inproceedings{Khatib:93b,
	author = {O.~Khatib},
	title = {A Task-Level Framework for Robotics Manipulation},
	booktitle = {Proc. of the Second Conference on Mechatronics and Robotics},
	pages = {201--216},
	address = {Duisburg/Moers, Germany},
	year = {1993}
}

O. Khatib.
A Framework for Task-Level Robotics Manipulation (3 min).
In T. Kanade and R. Paul. Video Proc. of the International Symposium on Experimental Robotics, Hidden Valley, PA, USA, 1993.

@inproceedings{Khatib:93a,
	author = {O.~Khatib},
	title = {A Framework for Task-Level Robotics Manipulation (3 min)},
	booktitle = {Video Proc. of the International Symposium on Experimental Robotics},
	editor = {T.~Kanade and R.~Paul},
	address = {Hidden Valley, PA, USA},
	key = {keyVideo},
	year = {1993}
}

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

@inproceedings{Russakow:92,
	author = {J.~Russakow and O.~Khatib},
	title = {A New Control Structure for Free-Flying Space Robots},
	booktitle = {Proc. of the International Symposium on Artificial Intelligence, Robotics and Automation in Space},
	month = {October},
	volume = {2},
	pages = {395--403},
	address = {Toulouse, France},
	year = {1992}
}

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

@inproceedings{Williams:92,
	author = {D.~Williams and O.~Khatib},
	title = {Characterization of Internal Forces in Multi-Grasp Manipulation},
	booktitle = {Proc. of the International Symposium on Measurement and Control in Robotics},
	month = {November},
	pages = {731--738},
	address = {Tokyo, Japan},
	year = {1992}
}

R. Holmberg, S. Dickert, and O. Khatib.
A New Actuation System for High-Performance Torque-Controlled Manipulators.
In A. Morecki, G. Binachi, and K. Jaworek. Proc. of the CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, pp. 285-292, Udine, Italy, 1992.

@inproceedings{Holmberg:92,
	author = {R.~Holmberg and S.~Dickert and O.~Khatib},
	title = {A New Actuation System for High-Performance Torque-Controlled Manipulators},
	editor = {A.~Morecki and G.~Binachi and K.~Jaworek},
	booktitle = {Proc. of the CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators},
	pages = {285--292},
	publisher = {Springer, London, UK},
	address = {Udine, Italy},
	year = {1992}
}

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

@inproceedings{Khatib:91b,
	author = {O.~Khatib},
	title = {Towards a New Generation of Force-Controlled Robot Manipulators},
	booktitle = {Proc. of {O}{R}{I}{A}'91: {T}elerobotics in Hostile Environments},
	month = {December},
	pages = {44--49},
	address = {Marseille, France},
	year = {1991}
}

O. Khatib and B. Roth.
New Robot Mechanisms for New Robot Capabilities.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 44-49, Osaka, Japan, November 1991.

@inproceedings{Khatib:91a,
	author = {O.~Khatib and B.~Roth},
	title = {New Robot Mechanisms for New Robot Capabilities},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	month = {November},
	volume = {1},
	pages = {44--49},
	address = {Osaka, Japan},
	year = {1991}
}

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

@inproceedings{Woodfill:91,
	author = {J.~Woodfill, R.~Zabih},
	title = {Using Motion Vision for a Simple Robotic Task},
	booktitle = {Proc. of the {A}{A}{A}{I} Fall Symposium on Sensory Aspects of Robotic Intelligence},
	month = {November},
	pages = {162--165},
	address = {Asilomar, CA, USA},
	year = {1991}
}

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

@inproceedings{Khatib:91,
	author = {O.~Khatib and B.~Roth and K.~Waldron},
	title = {The Design of a High-Performance Force-Controlled Manipulator},
	booktitle = {Proc. of the IFToMM World Congress on the Theory of Machines and Mechanisms},
	month = {August},
	pages = {475--478},
	volume = {2},
	address = {Prague, Czechoslovakia},
	year = {1991}
}

D. Quinlan and O. Khatib.
Towards Real-Time Execution of Motion Tasks.
In R. Chatila and G. Hirzinger. Experimental Robotics II, Proc. of the International Symposium on Experimental Robotics, pp. 241-254, Toulouse, France, June 1991.

@inproceedings{Quinlan:91,
	author = {D.~Quinlan and O.~Khatib},
	title = {Towards Real-Time Execution of Motion Tasks},
	booktitle = {Experimental Robotics II, Proc. of the International Symposium on Experimental Robotics},
	editor = {R.~Chatila and G.~Hirzinger},
	pages = {241--254},
	address = {Toulouse, France},
	publisher = {Springer-Verlag, Berlin, Heidelberg, Germany, 1993},
	month = {June},
	year = {1991}
}

O. Khatib.
Reduced Effective Inertia in Macro-/Mini-Manipulator Systems.
In H. Miura and S. Arimoto. Proc. of the International Symposium on Robotics Research, pp. 279-284, 1990.

@inproceedings{Khatib:90b,
	author = {O.~Khatib},
	title = {Reduced Effective Inertia in Macro-/Mini-Manipulator Systems},
	booktitle = {Proc. of the International Symposium on Robotics Research},
	editor = {H.~Miura and S.~Arimoto},
	publisher = {The {M}{I}{T} Press, Cambridge, MA, USA},
	pages = {279--284},
	year = {1990}
}

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

@inproceedings{Khatib:90,
	author = {O.~Khatib},
	title = {Object Level Manipulation},
	booktitle = {Proc. of the {I}{E}{E}{E} International Workshop on Intelligent Motron Control},
	editor = {O.~Kaynak},
	pages = {497--502},
	address = {Istanbul, Turkey},
	month = {August},
	year = {1990}
}

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

@inproceedings{Khatib:90a,
	author = {O.~Khatib},
	title = {Motion/Force Redundancy of Manipulators},
	booktitle = {Proc. of the Japan-USA Symposium on Flexible Automation},
	volume = {1},
	pages = {337--342},
	address = {Kyoto, Japan},
	month = {July},
	year = {1990}
}

D. Vischer and O. Khatib.
Performance Evaluation of Force/Torque Feedback Control Methodologies.
In A. Morecki, G. Binachi, and K. Jaworek. Proc. of the CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, pp. 186-193, Cracow, Poland, July 1990.

@inproceedings{Vischer:90,
	author = {D.~Vischer and O.~Khatib},
	title = {Performance Evaluation of Force/Torque Feedback Control Methodologies},
	booktitle = {Proc. of the CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators},
	editor = {A.~Morecki and G.~Binachi and K.~Jaworek},
	month = {July},
	pages = {186--193},
	address = {Cracow, Poland},
	year = {1990}
}

D. Vischer and O. Khatib.
Design and Development of Torque-Controlled Joints.
In V. Hayward and O. Khatib. Experimental Robotics I, Proc. of the International Symposium on Experimental Robotics, pp. 271-286, Montréal, Canada, June 1989.

@inproceedings{Vischer:89,
	author = {D.~Vischer and O.~Khatib},
	title = {Design and Development of Torque-Controlled Joints},
	booktitle = {Experimental Robotics I, Proc. of the International Symposium on Experimental Robotics},
	editor = {V.~Hayward and O.~Khatib},
	pages = {271--286},
	address = {Montr{\'e}al, Canada},
	publisher = {Springer-Verlag, Berlin, Germany, 1990},
	month = {June},
	year = {1989}
}

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

@inproceedings{Khatib:89a,
	author = {O.~Khatib and S.~ Agrawal},
	title = {Isotropic and Uniform Inertial and Acceleration Characteristics: {I}ssues in the Design of Manipulators},
	booktitle = {Dynamics of Controlled Mechanical Systems},
	editor = {G.~ Schweitzer and M.~Mansour},
	pages = {258--270},
	address = {Z{\"u}rich, Switzerland},
	month = {May},
	publisher = {Springer-Verlag, Berlin, Germany},
	year = {1989}
}

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

@inproceedings{Khatib:88d,
	author = {O.~Khatib},
	title = {Dynamic Control of Multi-Structure Robot Systems at the Manipulated Object Level},
	booktitle = {Current Advances in Mechanical Design and Production IV},
	editor = {Y.~Kabil and M.~Said},
	pages = {433--440},
	address = {Cairo, Egypt},
	month = {December},
	publisher = {Pergamon Press, Oxford, UK},
	year = {1988}
}

O. Khatib.
Inertial Characteristics and Dextrous Dynamic Coordination of Macro/Micro-Manipulator Systems.
In A. Morecki, G. Binachi, and K. Jaworek. Proc. of the CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, pp. 131-139, Udine, Italy, September 1988.

@inproceedings{Khatib:88,
	author = {O.~Khatib},
	title = {Inertial Characteristics and Dextrous Dynamic Coordination of Macro/Micro-Manipulator Systems},
	booktitle = {Proc. of the CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators},
	editor = {A.~Morecki and G.~Binachi and K.~Jaworek},
	month = {September},
	pages = {131--139},
	address = {Udine, Italy},
	publisher = {Hermes, Paris, France},
	year = {1988}
}

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

@inproceedings{Khatib:88c,
	author = {O.~Khatib},
	title = {Force-Based Motion Control of Robot Manipulators},
	booktitle = {Proc. of the International Meeting on Advances in Robot Kinematics},
	month = {September},
	pages = {176--180},
	address = {Ljubljana, Yugoslavia},
	year = {1988}
}

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

@inproceedings{Roth:88,
	author = {B.~Roth and M.~Raghavan and O.~Khatib and K.~Waldron},
	title = {Kinematic Structure for a Force Controlled Redundant Manipulator},
	booktitle = {Proc. of the International Meeting on Advances in Robot Kinematics},
	month = {September},
	pages = {62--66},
	address = {Ljubljana, Yugoslavia},
	year = {1988}
}

O. Khatib.
Object Manipulation in a Multi-Effector Robot System.
In R. Bolles and B. Roth. Proc. of the International Symposium on Robotics Research, pp. 137-144, Santa Cruz, CA, USA, May 1988.

@inproceedings{Khatib:88b,
	author = {O.~Khatib},
	title = {Object Manipulation in a Multi-Effector Robot System},
	booktitle = {Proc. of the International Symposium on Robotics Research},
	editor = {R.~Bolles and B.~Roth},
	address = {Santa Cruz, CA, USA},
	month = {May},
	publisher = {The {M}{I}{T} Press, Cambridge, MA, USA},
	pages = {137--144},
	year = {1988}
}

O. Khatib.
The Augmented Object and Reduced Effective Inertia in Robot Systems.
In Proc. of the American Control Conference, Vol. 3, pp. 2140-2147, Atlanta, GA, USA, June 1988.

@inproceedings{Khatib:88a,
	author = {O.~Khatib},
	title = {The Augmented Object and Reduced Effective Inertia in Robot Systems},
	booktitle = {Proc. of the American Control Conference},
	month = {June},
	volume = {3},
	address = {Atlanta, GA, USA},
	pages = {2140--2147},
	year = {1988}
}

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

@inproceedings{Shekhar:87,
	author = {S.~Shekhar and O.~Khatib},
	title = {Force Strategies in Real-Time Fine Motion Assembly},
	booktitle = {Proc. of the ASME Winter Annual Meeting},
	month = {December},
	address = {Boston, MA, USA},
	pages = {169--176},
	year = {1987}
}

J. J. Slotine, O. Khatib, and D. Ruth.
Robust Operational Space Control for Goal Positioned Manipulator Tasks.
In Proc. of the IEEE International Conference on Advanced Robotics, pp. 503-512, Versailles, France, October 1987.

@inproceedings{Slotine:87,
	author = {J.~J.~Slotine and O.~Khatib and D.~Ruth},
	title = {Robust Operational Space Control for Goal Positioned Manipulator Tasks},
	booktitle = {Proc. of the IEEE International Conference on Advanced Robotics},
	month = {October},
	publisher = {IFS/Springer-Verlag},
	address = {Versailles, France},
	pages = {503--512},
	year = {1987}
}

O. Khatib and J. Burdick.
Force Control of Robot Manipulators.
In Proc. of the Seventh IFToMM Congress on the Theory of Machines and Mechanisms, Vol. 2, pp. 1213-1218, Seville, Spain, September 1987.

@inproceedings{Khatib:87a,
	author = {O.~Khatib and J.~Burdick},
	title = {Force Control of Robot Manipulators},
	booktitle = {Proc. of the Seventh IFToMM Congress on the Theory of Machines and Mechanisms},
	volume = {2},
	month = {September},
	publisher = {Pergamon Press, Oxford, UK},
	address = {Seville, Spain},
	pages = {1213--1218},
	year = {1987}
}

O. Khatib.
The Operational Space Formulation in the Analysis, Design, and Control of Manipulators.
In O. Faugeras and G. Giralt. Proc. of the International Symposium on Robotics Research, pp. 261-270, Gouvieux-Chantilly, France, December 1986.

@inproceedings{Khatib:86d,
	author = {O.~Khatib},
	title = {The Operational Space Formulation in the Analysis, Design, and Control of Manipulators},
	booktitle = {Proc. of the International Symposium on Robotics Research},
	editor = {O.~Faugeras and G.~Giralt},
	month = {December},
	publisher = {The {M}{I}{T} Press, Cambridge, MA, USA},
	pages = {261--270},
	address = {Gouvieux-Chantilly, France},
	year = {1986}
}

O. Khatib.
Robot Manipulator Control in Operational Space.
In Proc. of the CNRS Symposium on Mathematical Tools for Modeling and Control of Robots, pp. 367-391, Paris, France, September 1986.

@inproceedings{Khatib:86e,
	author = {O.~Khatib},
	title = {Robot Manipulator Control in Operational Space},
	booktitle = {Proc. of the CNRS Symposium on Mathematical Tools for Modeling and Control of Robots},
	month = {September},
	publisher = {The {M}{I}{T} Press, Cambridge, MA, USA},
	pages = {367--391},
	address = {Paris, France},
	year = {1986}
}

O. Khatib.
Redundant Manipulators and Kinematic Singularities: The Operational Space Approach.
In A. Morecki, G. Binachi, and K. Kedzior. Proc. of the CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, pp. 131-138, November 1986.

@inproceedings{Khatib:86f,
	author = {O.~Khatib},
	title = {Redundant Manipulators and Kinematic Singularities: {T}he Operational Space Approach},
	booktitle = {Proc. of the CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators},
	editor = {A.~Morecki and G.~Binachi and K.~Kedzior},
	month = {November},
	publisher = {The {M}{I}{T} Press, Cambridge, MA, USA},
	pages = {131--138},
	year = {1986}
}

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

@inproceedings{Khatib:86c,
	author = {O.~Khatib},
	title = {Constrained Motion and Redundancy in Robot Manipulator Control},
	booktitle = {Proc. of the Japan-USA Symposium on Flexible Automation},
	month = {July},
	pages = {93--98},
	address = {Osaka, Japan},
	year = {1986}
}

L. Pfeffer, O. Khatib, and J. Hake.
Joint Torque Sensory Feedback in the Control of a PUMA Manipulator.
In Proc. of the American Control Conference, Vol. 2, pp. 818-824, Seattle, WA, USA, June 1986.

@inproceedings{Pfeffer:86,
	author = {L.~Pfeffer and O.~Khatib and J.~Hake},
	title = {Joint Torque Sensory Feedback in the Control of a PUMA Manipulator},
	booktitle = {Proc. of the American Control Conference},
	month = {June},
	volume = {2},
	pages = {818--824},
	address = {Seattle, WA, USA},
	year = {1986}
}

O. Khatib and J. Burdick.
Motion and Force Control of Robot Manipulators.
In Proc. of the IEEE International Conference on Robotics and Automation, Vol. 3, pp. 1381-1386, San Francisco, CA, USA, April 1986.

@inproceedings{Khatib:86b,
	author = {O.~Khatib and J.~Burdick},
	title = {Motion and Force Control of Robot Manipulators},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {April},
	volume = {3},
	pages = {1381--1386},
	address = {San Francisco, CA, USA},
	year = {1986}
}

B. Armstrong, O. Khatib, and J. Burdick.
The Explicit Dynamic Model and Inertial Parameters of the PUMA 560 Arm.
In Proc. of the IEEE International Conference on Robotics and Automation, Vol. 1, pp. 510-518, San Francisco, CA, USA, April 1986.

@inproceedings{Armstrong:86,
	author = {B.~Armstrong and O.~Khatib and J.~Burdick},
	title = {The Explicit Dynamic Model and Inertial Parameters of the PUMA 560 Arm},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {April},
	volume = {1},
	pages = {510--518},
	address = {San Francisco, CA, USA},
	year = {1986}
}

S. Shekhar, O. Khatib, and M. Shimojo.
Sensor Fusion and Object Localization.
In Proc. of the IEEE International Conference on Robotics and Automation, Vol. 3, pp. 1623-1628, San Francisco, CA, USA, April 1986.

@inproceedings{Shekhar:86,
	author = {S.~Shekhar and O.~Khatib and M.~Shimojo},
	title = {Sensor Fusion and Object Localization},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {April},
	volume = {3},
	pages = {1623--1628},
	address = {San Francisco, CA, USA},
	year = {1986}
}

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

@inproceedings{Khatib:85b,
	author = {O.~Khatib and J.~Burdick},
	title = {Dynamic Optimization in Manipulator Design: The Operational Space Formulation},
	booktitle = {ASME Winter Annual Meeting},
	editor = {M.~Donath and M.~Leu},
	month = {November},
	volume = {PED-Volume 15},
	pages = {169--174},
	address = {Miami, FL, USA},
	year = {1985}
}

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

@inproceedings{Khatib:85a,
	author = {O.~Khatib},
	title = {The Operational Space Formulation in Robot Manipulator Control},
	booktitle = {Proc. of the 15th International Symposium on Industrial Robots},
	month = {September},
	pages = {165--172},
	address = {Tokyo, Japan},
	year = {1985}
}

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

@inproceedings{Khatib:85c,
	author = {O.~Khatib},
	title = {The Potential Field Approach and Operational Space Formulation in Robot Control},
	booktitle = {Proc. of the 4th Yale Workshop on Applications of Adaptive Systems Theory},
	month = {May},
	pages = {208--214},
	address = {Yale University, New Haven, CT, USA},
	year = {1985}
}

O. Khatib.
Real-Time Obstacle Avoidance for Manipulators and Mobile Robots.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 500-505, St. Louis, MO, USA, March 1985.

@inproceedings{Khatib:85,
	author = {O.~Khatib},
	title = {Real-Time Obstacle Avoidance for Manipulators and Mobile Robots},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {March},
	pages = {500--505},
	address = {St. Louis, MO, USA},
	year = {1985}
}

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

@inproceedings{Khatib:84,
	author = {O.~Khatib},
	title = {Real-Time Control of Manipulators in Operational Space},
	booktitle = {Proc. of the 28th Annual Stanford Conference of the American Society for Quality Control},
	month = {October},
	pages = {9/1--9/7},
	address = {Palo Alto, CA, USA},
	year = {1984}
}

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

@inproceedings{Khatib:83,
	author = {O.~Khatib},
	title = {Dynamic Control of Manipulators in Operational Space},
	booktitle = {Proc. of the Sixth CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators},
	month = {December},
	pages = {1128--1131},
	address = {New Delhi, India},
	year = {1983}
}

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

@inproceedings{Khatib:78,
	author = {O.~Khatib and J.~F.~Le~Maitre},
	title = {Dynamic Control of Manipulators Operating in a Complex Environment},
	booktitle = {Proc. of the 3rd CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators},
	month = {September},
	pages = {267--282},
	address = {Udine, Italy},
	year = {1978}
}

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