Stanford Robotics Lab

2020

S. Menon and T. Migimatsu and O. Khatib, "Controlling Muscle-Actuated Articulated Bodies in Operational Space" , Robotics Research, 1037--1053, Springer, 2020. Bibtex

@incollection{menon2020controlling,
    title={Controlling Muscle-Actuated Articulated Bodies in Operational Space},
    author={S. Menon and T. Migimatsu and O. Khatib},
    booktitle={Robotics Research},
    pages={1037--1053},
    year={2020},
    publisher={Springer}
}

L. Shao and F. Ferreira and M. Jorda and V. Nambiar and J. Luo and E. Solowjow and J.A. Ojea and O. Khatib and J. Bohg, "UniGrasp: Learning a Unified Model to Grasp With Multifingered Robotic Hands" , IEEE Robotics and Automation Letters, 5, 2, 2286--2293, IEEE, 2020. Bibtex

@article{shao2020unigrasp,
    title={UniGrasp: Learning a Unified Model to Grasp With Multifingered Robotic Hands},
    author={L. Shao and F. Ferreira and M. Jorda and V. Nambiar and J. Luo and E. Solowjow and J.A. Ojea and O. Khatib and J. Bohg},
    journal={IEEE Robotics and Automation Letters},
    volume={5},
    number={2},
    pages={2286--2293},
    year={2020},
    publisher={IEEE}
}

2019

O. Khatib, "The Age of human-robot collaboration" , ROMANSY 22--Robot Design, Dynamics and Control, 9--9, Springer, 2019. Bibtex

@incollection{khatib2019age,
    title={The Age of human-robot collaboration},
    author={O. Khatib},
    booktitle={ROMANSY 22--Robot Design, Dynamics and Control},
    pages={9--9},
    year={2019},
    publisher={Springer}
}

M. Jorda and E.G. Herrero and O. Khatib, "Contact-Driven Posture Behavior for Safe and Interactive Robot Operation" , 2019 International Conference on Robotics and Automation (ICRA), 9243--9249, 2019. Bibtex

@inproceedings{jorda2019contact,
    title={Contact-Driven Posture Behavior for Safe and Interactive Robot Operation},
    author={M. Jorda and E.G. Herrero and O. Khatib},
    booktitle={2019 International Conference on Robotics and Automation (ICRA)},
    pages={9243--9249},
    year={2019},
    organization={IEEE}
}

L. Shao and F. Ferreira and M. Jorda and V. Nambiar and J. Luo and E. Solowjow and J.A. Ojea and O. Khatib and J. Bohg, "UniGrasp: Learning a Unified Model to Grasp with N-Fingered Robotic Hands" , arXiv preprint arXiv:1910.10900, 2019. Bibtex

@article{shao2019unigrasp,
    title={UniGrasp: Learning a Unified Model to Grasp with N-Fingered Robotic Hands},
    author={L. Shao and F. Ferreira and M. Jorda and V. Nambiar and J. Luo and E. Solowjow and J.A. Ojea and O. Khatib and J. Bohg},
    journal={arXiv preprint arXiv:1910.10900},
    year={2019}
}

2018

A. Ajoudani and A.M. Zanchettin and S. Ivaldi and A. Albu-Schäffer and K. Kosuge and O. Khatib, "Progress and prospects of the human--robot collaboration" , Autonomous Robots, 42, 5, 957--975, Springer, 2018. Bibtex

@article{ajoudani2018progress,
    title={Progress and prospects of the human--robot collaboration},
    author={A. Ajoudani and A.M. Zanchettin and S. Ivaldi and Albu-Sch{\"a}ffer, Alin and K. Kosuge and O. Khatib},
    journal={Autonomous Robots},
    volume={42},
    number={5},
    pages={957--975},
    year={2018},
    publisher={Springer}
}

C.M. Boutry and M. Negre and M. Jorda and O. Vardoulis and A. Chortos and O. Khatib and Z. Bao, "A hierarchically patterned, bioinspired e-skin able to detect the direction of applied pressure for robotics" , Science Robotics, 3, 24, eaau6914, Science Robotics, 2018. Bibtex

@article{boutry2018hierarchically,
    title={A hierarchically patterned, bioinspired e-skin able to detect the direction of applied pressure for robotics},
    author={C.M. Boutry and M. Negre and M. Jorda and O. Vardoulis and A. Chortos and O. Khatib and Z. Bao},
    journal={Science Robotics},
    volume={3},
    number={24},
    pages={eaau6914},
    year={2018},
    publisher={Science Robotics}
}

M. Vulliez and S. Zeghloul and O. Khatib, "Design strategy and issues of the Delthaptic, a new 6-DOF parallel haptic device" , Mechanism and Machine Theory, 128, 395--411, Elsevier, 2018. Bibtex

@article{vulliez2018design,
    title={Design strategy and issues of the Delthaptic, a new 6-DOF parallel haptic device},
    author={M. Vulliez and S. Zeghloul and O. Khatib},
    journal={Mechanism and Machine Theory},
    volume={128},
    pages={395--411},
    year={2018},
    publisher={Elsevier}
}

S. Ganguly and O. Khatib, "Experimental studies of contact space model for multi-surface collisions in articulated rigid-body systems" , International Symposium on Experimental Robotics, 425--436, 2018. Bibtex

@inproceedings{ganguly2018experimental,
    title={Experimental studies of contact space model for multi-surface collisions in articulated rigid-body systems},
    author={S. Ganguly and O. Khatib},
    booktitle={International Symposium on Experimental Robotics},
    pages={425--436},
    year={2018},
    organization={Springer}
}

G. Brantner and O. Khatib, "Controlling ocean one" , Field and Service Robotics, 3--17, 2018. Bibtex

@inproceedings{brantner2018controlling,
    title={Controlling ocean one},
    author={G. Brantner and O. Khatib},
    booktitle={Field and Service Robotics},
    pages={3--17},
    year={2018},
    organization={Springer}
}

A. Gaschler and Petrick, Ronald PA and O. Khatib and A. Knoll, "KABouM: knowledge-level action and bounding geometry motion planner" , Journal of Artificial Intelligence Research, 61, 323--362, 2018. Bibtex

@article{gaschler2018kaboum,
    title={KABouM: knowledge-level action and bounding geometry motion planner},
    author={A. Gaschler and Petrick, Ronald PA and O. Khatib and A. Knoll},
    journal={Journal of Artificial Intelligence Research},
    volume={61},
    pages={323--362},
    year={2018}
}

M. Vulliez and S. Zeghloul and O. Khatib, "Kinematic analysis of the delthaptic, a new 6-dof haptic device" , Advances in Robot Kinematics 2016, 181--189, Springer, 2018. Bibtex

@incollection{vulliez2018kinematic,
    title={Kinematic analysis of the delthaptic, a new 6-dof haptic device},
    author={M. Vulliez and S. Zeghloul and O. Khatib},
    booktitle={Advances in Robot Kinematics 2016},
    pages={181--189},
    year={2018},
    publisher={Springer}
}

2017

S.M. Khansari-Zadeh and O. Khatib, "Learning potential functions from human demonstrations with encapsulated dynamic and compliant behaviors" , Autonomous Robots, 41, 1, 45--69, Springer, 2017. Bibtex

@article{khansari2017learning,
    title={Learning potential functions from human demonstrations with encapsulated dynamic and compliant behaviors},
    author={S.M. Khansari-Zadeh and O. Khatib},
    journal={Autonomous Robots},
    volume={41},
    number={1},
    pages={45--69},
    year={2017},
    publisher={Springer}
}

H. Stuart and S. Wang and O. Khatib and M. Cutkosky R, "The ocean one hands: An adaptive design for robust marine manipulation" , The International Journal of Robotics Research, 36, 2, 150--166, SAGE Publications Sage UK: London, England, 2017. Bibtex

@article{stuart2017ocean,
    title={The ocean one hands: An adaptive design for robust marine manipulation},
    author={H. Stuart and S. Wang and O. Khatib and M. Cutkosky R},
    journal={The International Journal of Robotics Research},
    volume={36},
    number={2},
    pages={150--166},
    year={2017},
    publisher={SAGE Publications Sage UK: London, England}
}

R. Balachandran and M. Jorda and J. Artigas and J.-H. Ryu and O. Khatib, "Passivity-based stability in explicit force control of robots" , 2017 IEEE International Conference on Robotics and Automation (ICRA), 386--393, 2017. Bibtex

@inproceedings{balachandran2017passivity,
    title={Passivity-based stability in explicit force control of robots},
    author={R. Balachandran and M. Jorda and J. Artigas and J.-H. Ryu and O. Khatib},
    booktitle={2017 IEEE International Conference on Robotics and Automation (ICRA)},
    pages={386--393},
    year={2017},
    organization={IEEE}
}

J. Luo and Y. Zhao and D. Kim and O. Khatib and L. Sentis, "Locomotion control of three dimensional passive-foot biped robot based on whole body operational space framework" , 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 1577--1582, 2017. Bibtex

@inproceedings{luo2017locomotion,
    title={Locomotion control of three dimensional passive-foot biped robot based on whole body operational space framework},
    author={J. Luo and Y. Zhao and D. Kim and O. Khatib and L. Sentis},
    booktitle={2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
    pages={1577--1582},
    year={2017},
    organization={IEEE}
}

N.-H. Kim and J.-M. Kim and O. Khatib and D. Shin, "Design optimization of hybrid actuation combining macro-mini actuators" , International Journal of Precision Engineering and Manufacturing, 18, 4, 519--527, Springer, 2017. Bibtex

@article{kim2017design,
    title={Design optimization of hybrid actuation combining macro-mini actuators},
    author={N.-H. Kim and J.-M. Kim and O. Khatib and D. Shin},
    journal={International Journal of Precision Engineering and Manufacturing},
    volume={18},
    number={4},
    pages={519--527},
    year={2017},
    publisher={Springer}
}

S. Menon and A. Soviche and J. Mithrakumar and Alok S. and H. Ganti and O. Khatib, "Haptic fmri: A novel five dof haptic interface for multi-axis motor neuroscience experiments" , 2017 IEEE World Haptics Conference (WHC), 13--18, 2017. Bibtex

@inproceedings{menon2017haptic,
    title={Haptic fmri: A novel five dof haptic interface for multi-axis motor neuroscience experiments},
    author={S. Menon and A. Soviche and J. Mithrakumar and Alok S. and H. Ganti and O. Khatib},
    booktitle={2017 IEEE World Haptics Conference (WHC)},
    pages={13--18},
    year={2017},
    organization={IEEE}
}

M. Jorda and R. Balachandran and J.-H. Ryu and O. Khatib, "New passivity observers for improved robot force control" , 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2177--2184, 2017. Bibtex

@inproceedings{jorda2017new,
    title={New passivity observers for improved robot force control},
    author={M. Jorda and R. Balachandran and J.-H. Ryu and O. Khatib},
    booktitle={2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages={2177--2184},
    year={2017},
    organization={IEEE}
}

S. Menon and J. Zhu and D. Goyal and O. Khatib, "Haptic fMRI: Reliability and performance of electromagnetic haptic interfaces for motion and force neuroimaging experiments" , 2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 3930--3935, 2017. Bibtex

@inproceedings{menon2017haptic,
    title={Haptic fMRI: Reliability and performance of electromagnetic haptic interfaces for motion and force neuroimaging experiments},
    author={S. Menon and J. Zhu and D. Goyal and O. Khatib},
    booktitle={2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)},
    pages={3930--3935},
    year={2017},
    organization={IEEE}
}

2016

B. Siciliano and O. Khatib, "Springer handbook of robotics" , Springer, 2016. Bibtex

@book{siciliano2016springer,
    title={Springer handbook of robotics},
    author={B. Siciliano and O. Khatib},
    year={2016},
    publisher={Springer}
}

O. Khatib and X. Yeh and G. Brantner and B. Soe and B. Kim and S. Ganguly and H. Stuart and S. Wang and M. Cutkosky and A. Edsinger and others, "Ocean one: A robotic avatar for oceanic discovery" , IEEE Robotics \& Automation Magazine, 23, 4, 20--29, IEEE, 2016. Bibtex

@article{khatib2016ocean,
    title={Ocean one: A robotic avatar for oceanic discovery},
    author={O. Khatib and X. Yeh and G. Brantner and B. Soe and B. Kim and S. Ganguly and H. Stuart and S. Wang and M. Cutkosky and A. Edsinger and others},
    journal={IEEE Robotics \& Automation Magazine},
    volume={23},
    number={4},
    pages={20--29},
    year={2016},
    publisher={IEEE}
}

M. Khansari and E. Klingbeil and O. Khatib, "Adaptive human-inspired compliant contact primitives to perform surface--surface contact under uncertainty" , The International Journal of Robotics Research, 35, 13, 1651--1675, SAGE Publications Sage UK: London, England, 2016. Bibtex

@article{khansari2016adaptive,
    title={Adaptive human-inspired compliant contact primitives to perform surface--surface contact under uncertainty},
    author={M. Khansari and E. Klingbeil and O. Khatib},
    journal={The International Journal of Robotics Research},
    volume={35},
    number={13},
    pages={1651--1675},
    year={2016},
    publisher={SAGE Publications Sage UK: London, England}
}

S. Menon and H. Ganti and O. Khatib, "Using haptic fMRI to enable interactive motor neuroimaging experiments" , Experimental Robotics, 89--103, 2016. Bibtex

@inproceedings{menon2016using,
    title={Using haptic fMRI to enable interactive motor neuroimaging experiments},
    author={S. Menon and H. Ganti and O. Khatib},
    booktitle={Experimental Robotics},
    pages={89--103},
    year={2016},
    organization={Springer}
}

M. Fischer and S. Menon and O. Khatib, "From bot to bot: Using a chat bot to synthesize robot motion" , 2016 AAAI Fall Symposium Series, 2016. Bibtex

@inproceedings{fischer2016bot,
    title={From bot to bot: Using a chat bot to synthesize robot motion},
    author={M. Fischer and S. Menon and O. Khatib},
    booktitle={2016 AAAI Fall Symposium Series},
    year={2016}
}

D. Shin and A. Tanaka and N. Kim and O. Khatib, "A centrifugal force-based configuration-independent high-torque-density passive brake for human-friendly robots" , IEEE/ASME Transactions on Mechatronics, 21, 6, 2827--2835, IEEE, 2016. Bibtex

@article{shin2016centrifugal,
    title={A centrifugal force-based configuration-independent high-torque-density passive brake for human-friendly robots},
    author={D. Shin and A. Tanaka and N. Kim and O. Khatib},
    journal={IEEE/ASME Transactions on Mechatronics},
    volume={21},
    number={6},
    pages={2827--2835},
    year={2016},
    publisher={IEEE}
}

F. Conti and O. Khatib, "A framework for real-time multi-contact multi-body dynamic simulation" , Robotics Research, 271--287, Springer, 2016. Bibtex

@incollection{conti2016framework,
    title={A framework for real-time multi-contact multi-body dynamic simulation},
    author={Conti, Fran{\c{c}}ois and O. Khatib},
    booktitle={Robotics Research},
    pages={271--287},
    year={2016},
    publisher={Springer}
}

E. Demircan and A. Murai and O. Khatib and Y. Nakamura, "Muscular effort for the characterization of human postural behaviors" , Experimental Robotics, 685--696, 2016. Bibtex

@inproceedings{demircan2016muscular,
    title={Muscular effort for the characterization of human postural behaviors},
    author={E. Demircan and A. Murai and O. Khatib and Y. Nakamura},
    booktitle={Experimental Robotics},
    pages={685--696},
    year={2016},
    organization={Springer}
}

E. Klingbeil and S. Menon and O. Khatib, "Experimental analysis of human control strategies in contact manipulation tasks" , International Symposium on Experimental Robotics, 275--286, 2016. Bibtex

@inproceedings{klingbeil2016experimental,
    title={Experimental analysis of human control strategies in contact manipulation tasks},
    author={E. Klingbeil and S. Menon and O. Khatib},
    booktitle={International Symposium on Experimental Robotics},
    pages={275--286},
    year={2016},
    organization={Springer}
}

S. Menon and T. Migimatsu and O. Khatib, "A parameterized family of anatomically accurate human upper-body musculoskeletal models for dynamic simulation \& control" , 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 587--594, 2016. Bibtex

@inproceedings{menon2016parameterized,
    title={A parameterized family of anatomically accurate human upper-body musculoskeletal models for dynamic simulation \& control},
    author={S. Menon and T. Migimatsu and O. Khatib},
    booktitle={2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)},
    pages={587--594},
    year={2016},
    organization={IEEE}
}

O. Khatib, "The new robotics age: Meeting the physical interactivity challenge" , Symposium on Robot Design, Dynamics and Control, 17--18, 2016. Bibtex

@inproceedings{khatib2016new,
    title={The new robotics age: Meeting the physical interactivity challenge},
    author={O. Khatib},
    booktitle={Symposium on Robot Design, Dynamics and Control},
    pages={17--18},
    year={2016},
    organization={Springer}
}

2015

F. Flacco and A. De Luca and O. Khatib, "Control of redundant robots under hard joint constraints: Saturation in the null space" , IEEE Transactions on Robotics, 31, 3, 637--654, IEEE, 2015. Bibtex

@article{flacco2015control,
    title={Control of redundant robots under hard joint constraints: Saturation in the null space},
    author={F. Flacco and A. De Luca and O. Khatib},
    journal={IEEE Transactions on Robotics},
    volume={31},
    number={3},
    pages={637--654},
    year={2015},
    publisher={IEEE}
}

F. Flacco and T. Kroeger and A. De Luca and O. Khatib, "A depth space approach for evaluating distance to objects" , Journal of Intelligent \& Robotic Systems, 80, 1, 7--22, Springer, 2015. Bibtex

@article{flacco2015depth,
    title={A depth space approach for evaluating distance to objects},
    author={F. Flacco and T. Kroeger and A. De Luca and O. Khatib},
    journal={Journal of Intelligent \& Robotic Systems},
    volume={80},
    number={1},
    pages={7--22},
    year={2015},
    publisher={Springer}
}

S.-Y. Chung and O. Khatib, "Contact-consistent elastic strips for multi-contact locomotion planning of humanoid robots" , 2015 IEEE International Conference on Robotics and Automation (ICRA), 6289--6294, 2015. Bibtex

@inproceedings{chung2015contact,
    title={Contact-consistent elastic strips for multi-contact locomotion planning of humanoid robots},
    author={S.-Y. Chung and O. Khatib},
    booktitle={2015 IEEE International Conference on Robotics and Automation (ICRA)},
    pages={6289--6294},
    year={2015},
    organization={IEEE}
}

S. Jentzsch and A. Gaschler and O. Khatib and A. Knoll, "MOPL: A multi-modal path planner for generic manipulation tasks" , 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 6208--6214, 2015. Bibtex

@inproceedings{jentzsch2015mopl,
    title={MOPL: A multi-modal path planner for generic manipulation tasks},
    author={Jentzsch, S{\"o}ren and A. Gaschler and O. Khatib and A. Knoll},
    booktitle={2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages={6208--6214},
    year={2015},
    organization={IEEE}
}

S. Jentzsch and A. Gaschler and O. Khatib and A. Knoll, "MOPL: A multi-modal path planner for generic manipulation tasks" , 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 6208--6214, 2015. Bibtex

@inproceedings{jentzsch2015mopl,
    title={MOPL: A multi-modal path planner for generic manipulation tasks},
    author={Jentzsch, S{\"o}ren and A. Gaschler and O. Khatib and A. Knoll},
    booktitle={2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages={6208--6214},
    year={2015},
    organization={IEEE}
}

M. A. Hsieh and O. Khatib and V. Kumar, "Experimental Robotics: The 14th International Symposium on Experimental Robotics" , 109, Springer, 2015. Bibtex

@book{hsieh2015experimental,
    title={Experimental Robotics: The 14th International Symposium on Experimental Robotics},
    author={M. A. Hsieh and O. Khatib and V. Kumar},
    volume={109},
    year={2015},
    publisher={Springer}
}

S. Wang and S. Chung and O. Khatib and M. Cutkosky, "Suprapeds: Smart staff design and terrain characterization" , 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 1520--1527, 2015. Bibtex

@inproceedings{wang2015suprapeds,
    title={Suprapeds: Smart staff design and terrain characterization},
    author={S. Wang and S. Chung and O. Khatib and M. Cutkosky},
    booktitle={2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages={1520--1527},
    year={2015},
    organization={IEEE}
}

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

@Article{Khansari_AR2015,
    author = {S.M. Khansari-Zadeh and O. Khatib},
    title = {Learning potential functions from human demonstrations with encapsulated dynamic and compliant behaviors},
    journal = {Autonomous Robots},
    year = {2015},
    pages = {1--25},
    issn = {1573-7527},
    doi = {10.1007/s10514-015-9528-y},
    url = {http://dx.doi.org/10.1007/s10514-015-9528-y}
}

2014

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

@book{Demircan:14a,
    author = {E.~Demircan, A.~Murai, O.~Khatib, and Y.~Nakamura},
    title = {Muscular Effort for the Characterization of Human Postural Behaviors},
    address = {Netherlands},
    series = {Springer Tracts in Advanced Robotics: Experimental Robotics},
    publisher = {Springer Netherlands},
    volume = {},
    month = {},
    year = {2014}
}

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

@inproceedings{Khatib:14,
    author = {O.~Khatib and S.Y.~Chung},
    title = {SupraPeds: Humanoid Contact-Supported Locomotion for 3D Unstructured Environments},
    booktitle = ICRA,
    address = {Hong Kong, China},
    month = may,
    year = 2014
}

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

@INPROCEEDINGS{KlingbeilEtAl14:haptics,
    author = {E.~Klingbeil and S.~Menon and K.~Go and O.~Khatib},
    title = {Using Haptics To Identify Human Contact Control Strategies For Six Degree-of-Freedom Tasks},
    booktitle = {Haptics Symposium (HAPTICS), 2014 IEEE},
    month = {February},
    pages = {93--95},
    year = {2014},
    doi={10.1109/HAPTICS.2014.6775438}
}

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

@INPROCEEDINGS{Menon14:embc-b,
    author = {S.~Menon and A.~Stanley and J.~Zhu and A.~Okamura and O.~Khatib},
    title = {Mapping Stiffness Perception in the Brain with an fMRI-Compatible Particle-Jamming Haptic Interface},
    booktitle = {Proceedings of the 14th Annual Conference of the IEEE Engineering in Medicine and Biology Society},
    month = {August},
    year = {2014}
}

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

@INPROCEEDINGS{Menon14:embc-c,
    author = {S.~Menon P.~Quigley and and M.~Yu and O.~Khatib},
    title = {Haptic fMRI : Using Classification to Quantify Task-Correlated Noise during Goal-Directed Reaching Motions},
    booktitle = {Proceedings of the 14th Annual Conference of the IEEE Engineering in Medicine and Biology Society},
    month = {August},
    year = {2014}
}

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

@INPROCEEDINGS{Menon14:biorob,
    author = {S.~Menon and S.~Fok and A.~Neckar and O.~Khatib and K.~Boahen},
    title = {Controlling Articulated Robots in Task-Space with Spiking Silicon Neurons},
    booktitle = {Proceedings of the IEEE International Conference on Biomedical Robotics and Biomechatronics},
    month = {August},
    year = {2014}
}

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

@INCOLLECTION{Menon14:star-exp-rob,
    author = {S.~Menon and H.~Ganti and O.~Khatib},
    title = {Using Haptic fMRI to Enable Interactive Motor Neuroimaging Experiments},
    booktitle={Springer Tracts in Advanced Robotics: Experimental Robotics},
    editor={},
    publisher={Springer Netherlands},
    year = {2014},
    pages={},
    url={},
    doi={},
    isbn={}
}

2013

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

@INPROCEEDINGS{Gonzalez:13,
    author = {A.~Gonzalez and M.~Hayashibe and E.~Demircan and P.~Fraisse},
    title = {Center of Mass Estimation for Rehabilitation in a Multi-contact Environment: a Simulation Study},
    booktitle = {Proc. of the {I}{E}{E}{E} International Conference on Systems, Man, and Cybernetics (SMC)},
    year = {2013},
    address = {Manchester, UK},
    month = oct
}

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

@INPROCEEDINGS{Katzschmann:13,
    author = {R.~Katzschmann and T.~Kr{\"o}ger and T.~Asfour and O.~Khatib},
    title = {Towards Online Trajectory Generation Considering Robot Dynamics and Torque Limits},
    booktitle = IROS,
    year = {2013},
    address = {Tokyo, Japan},
    month = nov
}

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

@INPROCEEDINGS{Schlegl:13,
    author = {T.~Schlegl and T.~Kr{\"o}ger and A.~Gaschler and O.~Khatib and H.~Zangl},
    title = {Virtual Whiskers - Highly Responsive Robot Collision Avoidance},
    booktitle = IROS,
    year = {2013},
    address = {Tokyo, Japan},
    month = nov
}

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

@INPROCEEDINGS{Demircan:13a,
    author = {E.~Demircan},
    title = {Robotics-based Reconstruction and Synthesis of Human Motion},
    booktitle = {Workshop on Computational Techniques in Natural Motion Analysis and Reconstructiong at the {I}{E}{E}{E} International Conference on Robotics
and Automation},
    year = {2013},
    address = {Karlsruhe, Germany},
    month = may
}

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

@INPROCEEDINGS{Gaschler:13,
    author = {A.~Gaschler and R.~P.~A.~Petrick and T.~Kr{\"o}ger and A.~Knoll and O.~Khatib},
    title = {Robot Task Planning with Contingencies for Run-time Sensing},
    booktitle = {Workshop on Workshop on Combining Task and Motion Planning at the IEEE International Conference on Robotics and Automation},
    year = {2013},
    address = {Karlsruhe, Germany},
    month = may
}

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

@INPROCEEDINGS{Gaschler:13a,
    author = {A.~Gaschler and R.~P.~A.~Petrick and T.~Kr{\"o}ger and A.~Knoll and O.~Khatib},
    title = {Robot Task and Motion Planning with Sets of Convex Polyhedra},
    booktitle = {Workshop on Workshop on Task and Motion Planning at Robotics Science and Systems},
    year = {2013},
    address = {Berlin, Germany},
    month = jun
}

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

@INPROCEEDINGS{Menon:13,
    author = {S.~Menon and G.~Brantner and C.~Aholt and K.~Kay and O.~Khatib},
    title = {Haptic fMRI : Combining Functional Neuroimaging with Haptics for Studying the Brain's Motor Contro Representation},
    booktitle = {Proc. of the 35th Annual Conference of the IEEE Engineering in Medicine and Biology Society},
    year = {2013},
    address = {Osaka, Japan},
    month = july
}

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

@INPROCEEDINGS{Kroeger:13,
    author = {T.~Kr{\"o}ger},
    title = {Instantaneous Trajectory Generation for Multi-axis Motion Control Systems},
    booktitle = {Proc. of the Embedded Word Conference},
    year = {2013},
    address = {Nuremberg, Germany},
    month = apr
}

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

@ARTICLE{Shin:13,
    author = {D.~Shin and X.~Yeh and O.~Khatib},
    title = { Circular Pulley vs. Variable Radius Pulley: Optimal Design Methodologies and Dynamic Characteristics Analysis},
    journal = {TransR},
    year = {2013},
    volume = {29},
    pages = {766--774},
    number = {3},
    journalurl = {TransURLRA}
}

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

@BOOK{Khatib:13a,
    title = {Experimental Robotics},
    publisher = {Springer, Berlin, Heidelberg, Germany},
    year = {2013},
    editor = {O.~Khatib and V.~Kumar and G.~Sukhatme},
    volume = {79},
    series = {Springer Tracts in Advanced Robotics},
    publisherurl = {SpringerURL},
    seriesurl = {StarURL}
}

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

@BOOK{Khatib:13b,
    title = {Experimental Robotics},
    publisher = {Springer, Berlin, Heidelberg, Germany},
    year = {2013},
    editor = {V.~Padois and P.~Bidaud and O.~Khatib},
    series = {Robot Design Dynamics, and Contol},
    publisherurl = {SpringerURL},
    seriesurl = {StarURL}
}

2012

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

@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 = IROS,
    year = {2012},
    address = {Algarve, Portugal},
    month = oct,
    puburl = {images/pdfs/Flacco_2012.pdf}
}

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

@INPROCEEDINGS{Kwon:12,
    author = {J.~S.~Kwon and T.~Yoshikawa and O.~Khatib},
    title = {Elastic Strips: Implementation on a Physical Humanoid Robot},
    booktitle = IROS,
    year = {2012},
    address = {Algarve, Portugal},
    month = oct,
    puburl = {images/pdfs/Kwon_2012.pdf}
}

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

@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 = ICRA,
    year = {2012},
    pages = {1464--1469},
    address = {St Paul, MN, USA},
    month = may,
    puburl = {images/pdfs/Demircan_2012_ICRA.pdf}
}

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

@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 = ICRA,
    year = {2012},
    pages = {338--345},
    address = {Saint Paul, MN, USA},
    month = may,
    puburl = {images/pdfs/Flacco_2012_ICRA.pdf}
}

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

@INPROCEEDINGS{Kroeger:12,
    author = {T.~Kr{\"o}ger},
    title = {On-Line Trajectory Generation: {N}onconstant Motion Constraints},
    booktitle = ICRA,
    year = {2012},
    pages = {2048--2054},
    address = {Saint Paul, MN, USA},
    month = may,
    puburl = {images/pdfs/Kroeger_2012_ICRA_1.pdf}
}

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

@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 = ICRA,
    year = {2012},
    pages = {4862--4869},
    address = {Saint Paul, MN, USA},
    month = may,
    puburl = {images/pdfs/Kroeger_2012_ICRA_2.pdf}
}

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

@INPROCEEDINGS{Shin:12,
    author = {D.~Shin and X.~Yeh and T.~Narita and O.~Khatib},
    title = {Motor vs. Brake: Comparative Studies on Performance and Safety in Hybrid Actuations},
    booktitle = {Proc. of the International Symposium on Experimental Robotics},
    year = {2012},
    address = {Qu\'{e}bec City, Canada},
    month = {June}
}

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

@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},
    year = {2012},
    editor = {J.~Lenar\v{c}i\v{c} and M.~Husty},
    address = {Innsbruck, Austria},
    month = {jun},
    publisher = {Springer, Berlin, Heidelberg, Germany},
    puburl = {http://www.springerlink.com/content/k88264m16p45h073/}
}

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

@PHDTHESIS{Demircan:12b,
    author = {E.~Demircan},
    title = {Robotics-based Reconstruction and Synthesis of Human Motion},
    school = {Department of Mechanical Engineering, Stanford University, Stanford,     year = {2012},
    month = {August},
    puburl = {http://searchworks.stanford.edu/view/9699340/}
}

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

@INCOLLECTION{Petrovskaya:12,
    author = {A.~Petrovskaya and M.~Perrollaz and L.~Oliveira and L.~Spinello and R.~Triebel and A.~Makris and J.-D.~ Yoder and C.~Laugier and U.~Nunes
and P.~Bessiere},
    title = {Awareness of Road Scene Participants for Autonomous Driving},
    booktitle = {Handbook of Intelligent Vehicles},
    publisher = {Springer London},
    year = {2012},
    editor = {A.~Eskandarian},
    puburl = {http://link.springer.com/referenceworkentry/10.1007%2F978-0-85729-085-4_54}
}

2011

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

@INPROCEEDINGS{Demircan:11,
    author = {E.~Demircan and O.~Khatib},
    title = {Task-Level Reconstruction and Analysis of Dynamic Motions in Human Musculoskeletal Systems},
    booktitle = {In\A0Workshop on Robotics for Neurology and Rehabilitation at the IEEE/RSJ International Conference on Intellegent Robots and Systems},
    year = {2011},
    address = {San Francisco, CA, USA},
    month = sep,
    puburl = {images/pdfs/Demircan_2011_IROS_WS.pdf}
}

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

@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 = IROS,
    year = {2011},
    pages = {2992--2997},
    address = {San Francisco, CA, USA},
    month = sep,
    puburl = {images/pdfs/Phan_2011_IROS.pdf}
}

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

@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 = IROS,
    year = {2011},
    pages = {1036--1041},
    address = {San Francisco, CA, USA},
    month = sep,
    puburl = {images/pdfs/Philippsen_2011_IROS.pdf}
}

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

@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 = IROS,
    year = {2011},
    pages = {2998--3003},
    address = {San Francisco, CA, USA},
    month = sep,
    puburl = {images/pdfs/Shin_2011_IROS_1.pdf}
}

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

@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 = IROS,
    year = {2011},
    pages = {1830--1835},
    address = {San Francisco, CA, USA},
    month = sep,
    puburl = {images/pdfs/Shin_2011_IROS_2.pdf}
}

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

@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 = IROS,
    year = {2011},
    pages = {3023--3030},
    address = {San Francisco, CA, USA},
    month = sep,
    puburl = {images/pdfs/Conti_2011_IROS.pdf}
}

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

@ARTICLE{Kroeger:11c,
    author = {T.~Kr{\"o}ger},
    title = {On-Line Trajectory Generation: {S}traight-Line Trajectories},
    journal = TransR,
    year = {2011},
    volume = {27},
    pages = {1010--1016},
    number = {5},
    month = oct,
    journalurl = {TransURLRA},
    puburl = {images/pdfs/Kroeger_2011_TRO.pdf}
}

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

@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},
    year = {2011},
    address = {Twente, The Netherlands},
    month = nov,
    puburl = {images/pdfs/Flacco_2011_HFR.pdf}
}

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

@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 = ICRA,
    year = {2011},
    pages = {2837--2844},
    address = {Shanghai, China},
    month = {may},
    puburl = {images/pdfs/Klingbeil_2011_ICRA.pdf}
}

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

@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},
    year = {2011},
    pages = {89--94},
    address = {Istanbul, Turkey},
    month = jun,
    puburl = {images/pdfs/Conti_2011_WorldHaptics.pdf}
}

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

@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},
    year = {2011},
    address = {Los Angeles, CA, USA},
    month = jun,
    puburl = {images/pdfs/Flacco_2011_RSS_WS.pdf}
}

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

@PHDTHESIS{Petrovskaya:11b,
    author = {A.~Petrovskaya},
    title = {Towards Dependable Robotic Perception},
    school = {Artificial Intelligence Laboratory, Department of Computer Science,     year = {2011},
    month = jun,
    puburl = {images/pdfs/Petrovskaya_2011_Thesis.pdf}
}

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

@ARTICLE{Petrovskaya:11,
    author = {A.~Petrovskaya and O.~Khatib},
    title = {Global Localization of Objects via Touch},
    journal = TransR,
    year = {2011},
    volume = {27},
    pages = {569--585},
    number = {3},
    month = jun,
    journalurl = {TransURLRA},
    puburl = {images/pdfs/Petrovskaya_2011_TRO.pdf}
}

2010

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

@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 = {ICRA},
    year = {2010},
    pages = {751--758},
    address = {Anchorage, AK, USA},
    month = may,
    puburl = {images/pdfs/Klingbeil_2010_ICRA.pdf}
}

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

@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 = {ICRA},
    year = {2010},
    pages = {799--804},
    address = {Anchorage, AK, USA},
    month = may,
    puburl = {images/pdfs/Shin_2010_ICRA.pdf}
}

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

@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},
    year = {2010},
    address = {Anchorage, AK, USA},
    month = may
}

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

@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},
    year = {2010},
    address = {Piran-Portoroz, Slovenia},
    month = jun,
    publisher = {Springer, Berlin, Heidelberg, Germany},
    publisherurl = {SpringerURL},
    puburl = {images/pdfs/Demircan_2010_ARK.pdf}
}

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

@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},
    year = {2010},
    address = {Zaragoza, Spain},
    month = jun,
    puburl = {images/pdfs/Petrovskaya_2010_RSS_WS.pdf}
}

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

@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},
    year = {2010},
    address = {Toulouse, France},
    month = jun,
    puburl = {images/pdfs/Petrovskaya_2010_DRHE.pdf}
}

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

@ARTICLE{Sentis:10,
    author = {L.~Sentis and J.~Park and O.~Khatib},
    title = {Compliant Control of Multi-Contact and Center of Mass Behaviors in Humanoid Robots},
    journal = {TransR},
    year = {2010},
    volume = {26},
    pages = {483--501},
    number = {3},
    month = jun,
    journalurl = {TransURLRA},
    puburl = {images/pdfs/Sentis_2010_TRO.pdf}
}

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

@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,
    year = {2010},
    pages = {639--646},
    address = {Nashville, TN, USA},
    month = dec,
    puburl = {images/pdfs/Yoshikawa_2010_Humanoids.pdf}
}

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

@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 = ISER,
    year = {2010},
    address = {New Delhi, India},
    month = dec,
    puburl = {images/pdfs/Conti_2010_ISER.pdf}
}

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

@ARTICLE{Shin:10a,
    author = {D.~Shin and I.~Sardellitti and Y.-L.~Park and O.~Khatib and M.~Cutkosky},
    title = {Design and Control of a Bio-Inspired Human-Friendly Robot},
    journal = {IJRR},
    year = {2010},
    volume = {29},
    pages = {571--584},
    number = {5},
    month = apr,
    journalurl = {IJrnlRRURL},
    puburl = {images/pdfs/Shin_2010_IJRR.pdf}
}

2009

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

@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},
    year = {2009},
    pages = {6534--6537},
    address = {Minneapolis, MN, USA},
    month = sep,
    puburl = {images/pdfs/Demircan_2009_EMBC.pdf}
}

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

@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 = {IROS},
    year = {2009},
    pages = {453--460},
    address = {St. Louis, MO, USA},
    month = oct
}

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

@INPROCEEDINGS{Yoshikawa:09,
    author = {T.~Yoshikawa and O.~Khatib},
    title = {Compliant Humanoid Robot Control by the Torque Transformer},
    booktitle = {IROS},
    year = {2009},
    pages = {3011--3018},
    address = {St. Louis, MO, USA},
    month = oct
}

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

@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},
    year = {2009},
    address = {Kobe, Japan},
    month = may,
    puburl = {images/pdfs/Petrovskaya_2009_ICRA.pdf}
}

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

@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 = {ICRA},
    year = {2009},
    pages = {2816--2822},
    address = {Kobe, Japan},
    month = may,
    puburl = {images/pdfs/Quigley_2009_ICRA.pdf}
}

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

@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 = {ICRA},
    year = {2009},
    pages = {4369--4374},
    address = {Kobe, Japan},
    month = may
}

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

@ARTICLE{Conti:09,
    author = {F.~Conti and O.~Khatib},
    title = {A New Actuation Approach for Haptic Interface Design},
    journal = {IJRR},
    year = {2009},
    volume = {28},
    pages = {834--848},
    number = {6},
    month = jun,
    journalurl = {IJrnlRRURL}
}

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

@BOOK{Khatib:09b,
    title = {Special Issue on the Tenth International Symposium on Experimental Robotics},
    year = {2009},
    editor = {O.~Khatib and V.~Kumar and D.~Rus},
    volume = {28},
    number = {6},
    series = {IJRR},
    month = jun,
    key = {keySpecialIssue},
    seriesurl = {IJrnlRRURL}
}

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

@ARTICLE{Mansard:09,
    author = {N.~Mansard and O.~Khatib and A.~Kheddar},
    title = {A Unified Approach to Integrate Unilateral Constraints in the Stack of Tasks},
    journal = TransR,
    year = {2009},
    volume = {25},
    pages = {670--685},
    number = {3},
    month = jun
}

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

@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},
    year = {2009},
    address = {Cape Town South Africa},
    month = jul
}

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

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

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

@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},
    year = {2009},
    pages = {77--81},
    address = {Passadena, CA, USA},
    month = jul
}

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

@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},
    year = {2009},
    pages = {1046--1053},
    address = {Seoul, South Korea},
    month = jul
}

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

@ARTICLE{Khatib:09a,
    author = {O.~Khatib and E.~Demircan and V.~De~Sapio and L.~Sentis and T.~Besier and S.~Delp},
    title = {Robotics-based Synthesis of Human Motion},
    journal = {Journal of Physiology Paris},
    year = {2009},
    volume = {103},
    pages = {211--219},
    number = {3--5},
    month = aug,
    journalurl = {http://www.elsevier.com/locate/jphysparis},
    puburl = {images/pdfs/Khatib_2009_Physiology.pdf}
}

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

@ARTICLE{Petrovskaya:09b,
    author = {A.~Petrovskaya and S.~Thrun},
    title = {Model Based Vehicle Detection and Tracking for Autonomous Urban Driving},
    journal = {Autonomous Robots, Special Issue: {S}elected papers from Robotics: {S}cience and Systems 2008},
    year = {2009},
    volume = {26},
    pages = {123--139},
    number = {2--3},
    month = apr,
    editor = {Jos{\'e} Neira and Jeff Trinkle},
    journalurl = {http://www.springerlink.com/content/0929-5593},
    publisher = {Springer, Berlin, Heidelberg, Germany},
    publisherurl = {SpringerURL},
    puburl = {images/pdfs/Petrovskaya_2009_AURO.pdf}
}

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

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

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

@INCOLLECTION{Petrovskaya:09,
    author = {A.~Petrovskaya and S.~Thrun},
    title = {Efficient Techniques for Dynamic Vehicle Detection},
    booktitle = {Experimental Robotics},
    publisher = {Springer, Berlin, Heidelberg, Germany},
    year = {2009},
    editor = {O.~Khatib and V.~Kumar and G.~J.~Pappas},
    volume = {54},
    series = {Springer Tracts in Advanced Robotics},
    pages = {79--91},
    publisherurl = {SpringerURL},
    puburl = {images/pdfs/Petrovskaya_2008_ISER.pdf},
    seriesurl = {StarURL}
}

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

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

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

@BOOK{Khatib:09c,
    title = {Experimental Robotics},
    publisher = {Springer, Berlin, Heidelberg, Germany},
    year = {2009},
    editor = {O.~Khatib and V.~Kumar and G.~J.~Pappas},
    volume = {54},
    series = {Springer Tracts in Advanced Robotics},
    publisherurl = {SpringerURL},
    seriesurl = {StarURL}
}

2008

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

@ARTICLE{Bowling:08,
    author = {A.~Bowling and O.~Khatib},
    title = {Dynamic Performance in the Modular Design of Redundant Macro/Mini Manipulators},
    journal = {ASME Journal of Mechanical Design},
    year = {2008},
    volume = {130},
    pages = {092301/1--092301/11},
    number = {9},
    month = sep,
    journalurl = {http://www.asmedl.org/MechanicalDesign}
}

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

@ARTICLE{Montemerlo:08,
    author = {M.~Montemerlo and J.~Becker and S.~Bhat and H.~Dahlkamp and D.~Dolgov and S.~Ettinger and D.~Haehnel and T.~Hilden and G.~Hoffmann and
B.~Huhnke and D.~Johnston and S.~Klumpp and D.~Langer and A.~Levandowski
and J.~Levinson and J.~Marcil and D.~Orenstein and J.~Paefgen and
I.~Penny and A.~Petrovskaya and M.~Pflueger and G.~Stanek and D.~Stavens
and A.~Vogt and S.~Thrun},
    title = {Junior: {T}he Stanford Entry in the Urban Challenge},
    journal = {Journal of Field Robotics, Special Issue on the 2007 DARPA Urban Challenge, Part II},
    year = {2008},
    volume = {25},
    pages = {569-597},
    number = {9},
    month = sep,
    journalurl = {http://www.journalfieldrobotics.org/},
    puburl = {images/pdfs/Montemerlo_2008_FSR.pdf}
}

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

@ARTICLE{Park:08,
    author = {J.~Park and O.~Khatib},
    title = {Robot Multiple Contact Control},
    journal = {Robotica},
    year = {2008},
    volume = {26},
    pages = {667--677},
    number = {5},
    month = sep,
    journalurl = {http://journals.cambridge.org/action/displayJournal?jid=ROB},
    puburl = {images/pdfs/Park_2008_Robotica.pdf}
}

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

@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 = {IROS},
    year = {2008},
    pages = {211--218},
    address = {Nice, France},
    month = sep
}

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

@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 = {ICRA},
    year = {2008},
    pages = {1112--1117},
    address = {Passadena, CA, USA},
    month = may
}

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

@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 = {ICRA},
    year = {2008},
    pages = {1729--1734},
    address = {Passadena, CA, USA},
    month = may
}

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

@INPROCEEDINGS{Mansard:08,
    author = {N.~Mansard and O.~Khatib},
    title = {Continuous Control Law from Unilateral Constraints},
    booktitle = ICRA,
    year = {2008},
    pages = {3359--3364},
    address = {Passadena, CA, USA},
    month = may
}

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

@INPROCEEDINGS{Shin:08,
    author = {D.~Shin and I.~Sardellitti and O.~Khatib},
    title = {A Hybrid Actuation Approach for Human-Friendly Robot Design},
    booktitle = {ICRA},
    year = {2008},
    pages = {1747--1752},
    address = {Passadena, CA, USA},
    month = may
}

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

@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},
    year = {2008},
    pages = {1--7},
    address = {Big Sky, MT, USA},
    month = mar
}

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

@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},
    year = {2008},
    pages = {185--192},
    address = {Reno, NV, USA},
    month = mar
}

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

@BOOK{Zhang:08,
    title = {Dielectric Elastomers as Electromechanical Transducers: {F}undamentals, Materials, Devices, Models and Applications of an Emerging Electroactive
Polymer Technology},
    publisher = {Elsevier Science, New York, NY, USA},
    year = {2008},
    editor = {R.~Zhang and P.~Lochmatter and G.~Kovacs and A.~Kunz and F.~Conti},
    month = mar,
    publisherurl = {http://www.elsevier.com}
}

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

@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},
    year = {2008},
    editor = {J.~Lenar\v{c}i\v{c} and P.~Wenger},
    pages = {263--272},
    address = {Batz-sur-Mer, France },
    month = jun,
    publisher = {Springer, Berlin, Heidelberg, Germany},
    publisherurl = {SpringerURL},
    puburl = {images/pdfs/Demircan_2008_ARK.pdf}
}

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

@INPROCEEDINGS{Klingbeil:08,
    author = {E.~Klingbeil and A.~Saxena and A.~Y.~Ng},
    title = {Learning to Open New Doors},
    booktitle = {RSS},
    year = {2008},
    address = {Zurich, Switzerland},
    month = jun,
    puburl = {images/pdfs/Klingbeil_2008_RSS.pdf}
}

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

@INPROCEEDINGS{Petrovskaya:08,
    author = {A.~Petrovskaya and S.~Thrun},
    title = {Model Based Vehicle Tracking for Autonomous Driving in Urban Environments},
    booktitle = {RSS},
    year = {2008},
    address = {Zurich, Switzerland},
    month = jun,
    puburl = {images/pdfs/Petrovskaya_2008_RSS.pdf}
}

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

@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},
    year = {2008},
    pages = {iv},
    address = {Prague, Czech Republic},
    month = jul,
    publisher = {Springer, Berlin, Heidelberg, Germany}
}

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

@ARTICLE{Park:08a,
    author = {J.~Park},
    title = {Synthesis of Natural Arm Swing Motion in Human Bipedal Walking},
    journal = {Journal of Biomechanics},
    year = {2008},
    volume = {41},
    pages = {1417--1426},
    number = {7},
    month = apr,
    journalurl = {http://www.jbiomech.com}
}

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

@ARTICLE{DeSapio:08,
    author = {V.~De~Sapio and O.~Khatib and S.~Delp},
    title = {Least Action Principles and Their Application to Constrained and Task-Level Problems in Robotics and Biomechanics},
    journal = {Multibody System Dynamics},
    year = {2008},
    volume = {19},
    pages = {303--322},
    number = {3},
    month = apr,
    journalurl = {http://www.springer.com/engineering/journal/11044}
}

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

@TECHREPORT{Billimoria:08,
    author = {S.~Billimoria and N.~Mukherjee and A.~Petrovskaya and O.~Khatib},
    title = {Tactile Sensors},
    institution = {Department of Computer Science, Stanford University, Stanford, CA,     year = {2008},
    type = {Project Report},
    puburl = {images/pdfs/Petrovskaya_2008_Report.pdf}
}

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

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

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

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

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

@BOOK{Khatib:08a,
    title = {Experimental Robotics},
    publisher = {Springer, Berlin, Heidelberg, Germany},
    year = {2008},
    editor = {O.~Khatib and V.~Kumar and D.~Rus},
    volume = {39},
    series = {Springer Tracts in Advanced Robotics},
    publisherurl = {SpringerURL},
    seriesurl = {StarURL}
}

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

@BOOK{Siciliano:08,
    title = {The Handbook of Robotics},
    publisher = {Springer, Berlin, Heidelberg, Germany},
    year = {2008},
    editor = {B.~Siciliano and O.~Khatib},
    publisherurl = {SpringerURL}
}

2007

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

@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 = {IROS},
    year = {2007},
    pages = {1822--1827},
    address = {San Diego, CA, USA},
    month = oct
}

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

@BOOK{Dario:07,
    title = {Special Issue on the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics},
    year = {2007},
    editor = {P.~Dario and D.~R.~Meldrum and O.~Khatib},
    volume = {26},
    number = {11--12},
    series = {IJRR},
    month = nov,
    key = {keySpecialIssue},
    seriesurl = {IJrnlRRURL}
}

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

@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},
    year = {2007},
    pages = {367--372},
    address = {Tsukuba, Japan},
    month = mar,
    puburl = {images/pdfs/Conti_2007.pdf}
}

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

@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},
    year = {2007},
    address = {Atlanta, GA, USA},
    month = jun,
    puburl = {images/pdfs/Petrovskaya_2007_RSS.pdf}
}

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

@PHDTHESIS{Sentis:07,
    author = {L.~Sentis},
    title = {Synthesis and Control of Whole-Body Behaviors in Humanoid Systems},
    school = {Artificial Intelligence Laboratory, Department of Computer Science,     year = {2007},
    month = jul,
    schoolurl = {http://cs.stanford.edu/group/manips}
}

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

@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},
    year = {2007},
    pages = {2178--2184},
    address = {Hydrabad, India},
    month = jan,
    puburl = {images/pdfs/Petrovskaya_2007_IJCAI.pdf}
}

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

@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 = {ICRA},
    year = {2007},
    pages = {568--573},
    address = {Rome, Italy},
    month = apr,
    puburl = {images/pdfs/Petrovskaya_2007_ICRA.pdf}
}

2006

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

@INPROCEEDINGS{Park:06,
    author = {J.~Park and O.~Khatib},
    title = {Contact Consistent Control Framework for Humanoid Robots},
    booktitle = {ICRA},
    year = {2006},
    pages = {1963--1969},
    address = {Orlando, FL, USA},
    month = may
}

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

@ARTICLE{Park:06a,
    author = {J.~Park and O.~Khatib},
    title = {A Haptic Teleoperation Approach Based on Contact Force Control},
    journal = {IJRR},
    year = {2006},
    volume = {25},
    pages = {575--591},
    number = {5--6},
    month = may,
    journalurl = {IJrnlRRURL},
    puburl = {images/pdfs/Park_2006_IJRR.pdf}
}

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

@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 = {ICRA},
    year = {2006},
    pages = {707--714},
    address = {Orlando, FL, USA},
    month = may,
    puburl = {images/pdfs/Petrovskaya_2006_ICRA.pdf}
}

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

@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 = {ICRA},
    year = {2006},
    pages = {2952--2959},
    address = {Orlando, FL, USA},
    month = may,
    puburl = {images/pdfs/DeSapio_2006_ICRA.pdf}
}

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

@INPROCEEDINGS{Sentis:06,
    author = {L.~Sentis and O.~Khatib},
    title = {A Whole-Body Control Framework for Humanoid Operating in Human Environments},
    booktitle = {ICRA},
    year = {2006},
    pages = {2641--2648},
    address = {Orlando, FL, USA},
    month = may,
    puburl = {images/pdfs/Sentis_2006_ICRA.pdf}
}

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

@BOOK{Ang:06,
    title = {Special Issue on ISER 04},
    year = {2006},
    editor = {M.~H.~Ang and O.~Khatib},
    volume = {25},
    number = {5--6},
    series = {IJRR},
    month = may,
    key = {keySpecialIssue},
    seriesurl = {IJrnlRRURL}
}

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

@PHDTHESIS{Park:06c,
    author = {J.~Park},
    title = {Control Strategies for Robots in Contact},
    school = {Artificial Intelligence Laboratory, Department of Computer Science,     year = {2006},
    month = mar,
    puburl = {images/pdfs/Park_2006_thesis.pdf},
    schoolurl = {http://cs.stanford.edu/group/manips}
}

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

@ARTICLE{DeSapio:06a,
    author = {V.~De~Sapio and J.~Warren and O.~Khatib and S.~Delp},
    title = {Simulating the Task-level Control of Human Motion: {A} Methodology and Framework for Implementation},
    journal = {The Visual Computer},
    year = {2006},
    volume = {25},
    pages = {289--302},
    number = {1},
    month = jun,
    journalurl = {http://www.springer.com/computer/image+processing/journal/371},
    puburl = {images/pdfs/DeSapio_2006.pdf}
}

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

@ARTICLE{Cortesao:06,
    author = {R.~Cortesao and J.~Park and O.~Khatib},
    title = {Real-Time Adaptive Control for Haptic Tele-Manipulation with Kalman Active Observers},
    journal = {TransR},
    year = {2006},
    volume = {22},
    pages = {987--999},
    number = {5},
    month = aug,
    journalurl = {TransURLRA}
}

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

@ARTICLE{DeSapio:06b,
    author = {V.~De~Sapio and O.~Khatib and S.~Delp},
    title = {Task-Level Approaches for the Control of Constrained Multibody Systems},
    journal = {Multibody System Dynamics},
    year = {2006},
    volume = {16},
    pages = {73--102},
    number = {1},
    month = aug,
    journalurl = {http://www.springer.com/engineering/journal/11044},
    puburl = {images/pdfs/DeSapio_2006_MBS.pdf}
}

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

@INCOLLECTION{Park:06b,
    author = {J.~Park and O.~Khatib},
    title = {Robust Haptic Teleoperation of a Mobile Manipulation Platform},
    booktitle = {Experimental Robotics IX},
    publisher = {Springer, Berlin, Heidelberg, Germany},
    year = {2006},
    editor = {M.~H.~Ang and O.~Khatib},
    volume = {21},
    series = {Springer Tracts in Advanced Robotics},
    pages = {543--554},
    publisherurl = {SpringerURL},
    puburl = {images/pdfs/Park_2004_ISER.pdf},
    seriesurl = {StarURL}
}

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

@INCOLLECTION{DeSapio:06c,
    author = {V.~De~Sapio and J.~Warren and O.~Khatib},
    title = {Predicting Reaching Postures Using a Kinematically Constrained Shoulder Model},
    booktitle = {Advances in Robot Kinematics},
    publisher = {Springer, Berlin, Heidelberg, Germany},
    year = {2006},
    editor = {J.~Lenar\v{c}i\v{c} and B.~Roth},
    pages = {209--218},
    publisherurl = {SpringerURL},
    puburl = {images/pdfs/DeSapio_2006_ARK.pdf}
}

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

@BOOK{Ang:06a,
    title = {Experimental Robotics IX},
    publisher = {Springer, Berlin, Heidelberg, Germany},
    year = {2006},
    editor = {M.~H.~Ang and O.~Khatib},
    volume = {21},
    series = {Springer Tracts in Advanced Robotics},
    publisherurl = {SpringerURL},
    seriesurl = {StarURL}
}

2005

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

@BOOK{Chatila:05,
    title = {Special Issue on the Eleventh International Symposium on Robotics Research},
    year = {2005},
    editor = {R.~Chatila and P.~Dario and O.~Khatib},
    volume = {24},
    number = {9},
    series = {IJRR},
    month = sep,
    key = {keySpecialIssue},
    seriesurl = {IJrnlRRURL}
}

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

@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},
    year = {2005},
    address = {Pisa, Italy},
    month = mar
}

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

@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},
    year = {2005},
    pages = {183--188},
    address = {Pisa, Italy},
    month = mar,
    puburl = {images/pdfs/Conti_2005.pdf}
}

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

@ARTICLE{DeSapio:05,
    author = {V.~DeSapio and J.~Warren and O.~Khatib},
    title = {Simulating the Task-level Control of Human Motion: {A} Methodology and Framework for Implementation},
    journal = {The Visual Computer},
    volume = {21},
    pages = {289--302},
    number = {5},
    month = jun,
    year = {2005},
    publisher = {Springer}
}

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

@ARTICLE{Jamisola:05,
    author = {R.~Jamisola and M.~H.~Ang and O.~Khatib and D.-N.~Oetomo and T.-M.~Lim and S.-Y.~Lim},
    title = {Compliant Motion Using a Mobile Manipulator: An Operational Space Formulation Approach to Aircraft Canopy Polishing},
    journal = {ADRO},
    year = {2005},
    volume = {19},
    pages = {477--634},
    number = {5},
    month = jun,
    journalurl = {ADROURL}
}

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

@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},
    year = {2005},
    pages = {504--509},
    address = {Monterey, CA, USA},
    month = jul
}

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

@ARTICLE{Bowling:05,
    author = {A.~Bowling and O.~Khatib},
    title = {The Actuation Efficiency, a Measure of Acceleration Capability for Non-Redundant Robotic Manipulators},
    journal = {JRS},
    year = {2005},
    volume = {22},
    pages = {759--766},
    number = {12},
    month = dec
}

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

@ARTICLE{Sentis:05a,
    author = {L.~Sentis and O.~Khatib},
    title = {Synthesis of Whole-Body Behaviors Through Hierarchical Control of Behavioral Primitives},
    journal = {IJHR},
    year = {2005},
    volume = {2},
    pages = {505--518},
    number = {4},
    month = dec,
    journalurl = {IJrnlHRURL},
    puburl = {images/pdfs/Sentis_2005_IJHR.pdf}
}

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

@ARTICLE{Bowling:05a,
    author = {A.~Bowling and O.~Khatib},
    title = {The Dynamic Capability Equations: A New Tool for Analyzing Manipulator Dynamic Performance},
    journal = {TransR},
    year = {2005},
    volume = {21},
    pages = {115--123},
    number = {1},
    month = aug,
    journalurl = {TransURLRA},
    puburl = {images/pdfs/Bowling_2005_TransRA.pdf}
}

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

@INPROCEEDINGS{Cortesao:05,
    author = {R.~Cortesao and J.~Park and O.~Khatib},
    title = {Telepresence and Stability Analysis for Haptic Tele-Manipulation with Short Time Delay},
    booktitle = {ICAR},
    year = {2005},
    pages = {436--441},
    address = {Coimbra, Portugal},
    month = aug
}

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

@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},
    year = {2005},
    address = {Busan, South Korea},
    month = aug
}

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

@INPROCEEDINGS{DeSapio:05a,
    author = {V.~DeSapio and O.~Khatib},
    title = {Operational Space Control of Multibody Systems with Explicit Holonomic Constraints},
    booktitle = ICRA,
    year = {2005},
    pages = {2950--2956},
    address = {Barcelona, Spain},
    month = apr
}

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

@INPROCEEDINGS{Park:05,
    author = {J.~Park and O.~Khatib},
    title = {Multi-Link Multi-Contact Force Control for Manipulators},
    booktitle = {ICRA},
    year = {2005},
    pages = {3613--3618},
    address = {Barcelona, Spain},
    month = apr
}

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

@INPROCEEDINGS{DeSapio:05,
    author = {V.~De~Sapio and O.~Khatib},
    title = {Telepresence and Stability Analysis for Haptic Tele-Manipulation with Short Time Delay},
    booktitle = {ICRA},
    year = {2005},
    pages = {2950--2956},
    address = {Barcelona, Spain},
    month = apr
}

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

@INPROCEEDINGS{Sentis:05,
    author = {L.~Sentis and O.~Khatib},
    title = {Control of Free-Floating Humanoid Robots Through Task Prioritization},
    booktitle = {ICRA},
    year = {2005},
    pages = {1718--1723},
    address = {Barcelona, Spain},
    month = apr,
    puburl = {images/pdfs/Sentis_2005_ICRA.pdf}
}

2004

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

@INPROCEEDINGS{Sentis:04,
    author = {L.~Sentis and O.~Khatib},
    title = {Prioritized Multi-objective Dynamics and Control of Robots in Human Environments},
    booktitle = {Proc. of the IEEE/RAS International Conference on Humanoid Robots},
    year = {2004},
    volume = {2},
    pages = {764--780},
    address = {Los Angeles, CA, USA},
    month = nov
}

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

@INPROCEEDINGS{Sentis:04a,
    author = {L.~Sentis and O.~Khatib},
    title = {Task-Oriented Control of Humanoid Robots Through Prioritization},
    booktitle = {Proc. of the IEEE-RAS/RSJ International Conference on Humanoid Robots},
    year = {2004},
    address = {Santa Monica, CA, USA},
    month = nov,
    puburl = {images/pdfs/Sentis_2004.pdf}
}

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

@ARTICLE{Khatib:04b,
    author = {O.~Khatib and L.~Sentis and J.~Park and J.~Warren},
    title = {Whole Body Dynamic Behavior and Control of Human-Like Robots},
    journal = {IJHR},
    year = {2004},
    volume = {1},
    pages = {29--44},
    number = {1},
    month = mar,
    journalurl = {IJrnlHRURL},
    puburl = {images/pdfs/Khatib_2004_IJHR.pdf}
}

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

@ARTICLE{Salisbury:04,
    author = {J.~K.~Salisbury and F.~Conti and F.~Barbagli},
    title = {Haptic Rendering: {I}ntroductory Concepts},
    journal = {IEEE Computer Graphics and Applications},
    year = {2004},
    volume = {24},
    pages = {24--32},
    number = {2},
    month = mar,
    journalurl = {http://www.computer.org/cga},
    puburl = {images/pdfs/Salisbury_2004.pdf}
}

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

@ARTICLE{Zinn:04b,
    author = {M.~Zinn and O.~Khatib and B.~Roth and J.~K.~Salisbury},
    title = {Playing It Safe},
    journal = {RAM},
    year = {2004},
    volume = {11},
    pages = {12--21},
    number = {2},
    month = jun,
    journalurl = {IEEERoAMURL},
    puburl = {images/pdfs/Zinn_2004_RA.pdf}
}

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

@ARTICLE{Khatib:04a,
    author = {O.~Khatib and O.~Brock and K.-S.~Chang and D.~C.~Ruspini and L.~Sentis and S.~Viji},
    title = {Human-Centered Robotics and Interactive Haptic Simulation},
    journal = {IJRR},
    year = {2004},
    volume = {23},
    pages = {167--178},
    number = {2},
    month = feb,
    journalurl = {IJrnlRRURL},
    puburl = {images/pdfs/Khatib_2004_IJRR.pdf}
}

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

@INPROCEEDINGS{Park:04,
    author = {J.~Park and R.~Cortes\~{a}o and O.~Khatib},
    title = {Multi-Contact Compliant Motion Control for Robotic Manipulators},
    booktitle = {ICRA},
    year = {2004},
    volume = {5},
    pages = {4789--4794},
    address = {New Orleans, LA, USA},
    month = apr,
    puburl = {images/pdfs/Park_2004_ICRA.pdf}
}

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

@INPROCEEDINGS{Zinn:04,
    author = {M.~Zinn and O.~Khatib and B.~Roth},
    title = {A New Actuation Approach for Human-Friendly Robot Design},
    booktitle = {ICRA},
    year = {2004},
    volume = {1},
    pages = {249--254},
    address = {New Orleans, LA, USA},
    month = apr,
    puburl = {images/pdfs/Zinn_2004_ICRA.pdf}
}

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

@ARTICLE{Zinn:04a,
    author = {M.~Zinn and O.~Khatib and B.~Roth and J.~K.~Salisbury},
    title = {A New Actuation Approach for Human Friendly Robot Design},
    journal = {IJRR},
    year = {2004},
    volume = {23},
    pages = {379--398},
    number = {4--5},
    month = apr,
    journalurl = {IJrnlRRURL},
    puburl = {images/pdfs/Zinn_2004_IJRR.pdf}
}

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

@INCOLLECTION{Khatib:04c,
    author = {O.~Khatib and J.~Warren and V.~De~Sapio and L.~Sentis},
    title = {Human-Like Motion From Physiologically-Based Potential Energies},
    booktitle = {On Advances in Robot Kinematics},
    publisher = {Kluwer Academic Publishers},
    year = {2004},
    editor = {J.~Lenar\v{c}i\v{c} and C.~Galletti},
    pages = {149--163},
    puburl = {images/pdfs/Khatib_2004_ARK.pdf}
}

2003

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

@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 = {ICRA},
    year = {2003},
    volume = {3},
    pages = {3716--3721},
    address = {Taipei, Taiwan},
    month = sep,
    puburl = {images/pdfs/Conti_2003_ICRA.pdf}
}

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

@INPROCEEDINGS{Bowling:03,
    author = {A.~Bowling and O.~Khatib},
    title = {Non-Redundant Robotic Manipulator Acceleration Capability and the Actuation Efficiency Measure},
    booktitle = {IROS},
    year = {2003},
    volume = {4},
    pages = {3325--3330},
    address = {Las Vegas, NA, USA},
    month = oct,
    puburl = {images/pdfs/Bowling_2003_IROS.pdf}
}

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

@INPROCEEDINGS{Cortesao:03,
    author = {R.~Cortesao and J.~Park and O.~Khatib},
    title = {Real-Time Adaptive Control for Haptic Manipulation with Active Observers},
    booktitle = {IROS},
    year = {2003},
    volume = {3},
    pages = {2938--2943},
    address = {Las Vegas, NA, USA},
    month = oct,
    puburl = {images/pdfs/Cortesao_2003.pdf}
}

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

@ARTICLE{Bowling:03a,
    author = {A.~Bowling and O.~Khatib},
    title = {The Dynamic Loading Criteria in Actuator Selection for Desired Dynamic Performance},
    journal = {ADRO},
    year = {2003},
    volume = {17},
    pages = {641--656},
    number = {7},
    month = nov,
    journalurl = {ADROURL},
    puburl = {images/pdfs/Bowling_2003.pdf}
}

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

@INPROCEEDINGS{Park:03,
    author = {J.~Park and R.~Cortes\~{a}o and O.~Khatib},
    title = {Robust and Adaptive Teleoperation for Compliant Motion Tasks},
    booktitle = {ICAR},
    year = {2003},
    pages = {513--519},
    address = {Coimbra, Portugal},
    month = jun
}

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

@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},
    year = {2003},
    pages = {496--500},
    address = {Dublin, Irland},
    month = jul
}

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

@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},
    year = {2003},
    pages = {1572--1576},
    address = {Tianjin, China},
    month = aug,
    puburl = {images/pdfs/Khatib_2003.pdf}
}

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

@INCOLLECTION{Khatib:03,
    author = {O.~Khatib and O.~Brock and K.-S.~Chang and D.~C.~Ruspini and L.~Sentis and S.~Viji},
    title = {Human-Centered Robotics and Interactive Haptic Simulation},
    booktitle = {Robotics Research},
    publisher = {Springer, Berlin, Heidelberg, Germany},
    year = {2003},
    editor = {R.~A.~Jarvis and A.~Zelinsky},
    volume = {6},
    series = {Springer Tracts in Advanced Robotics},
    pages = {239--253},
    publisherurl = {SpringerURL},
    puburl = {images/pdfs/Khatib_2001_ISRR.pdf},
    seriesurl = {StarURL}
}

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

@INCOLLECTION{Zinn:03a,
    author = {M.~Zinn and O.~Khatib and B.~Roth and J.~K.~Salisbury},
    title = {Actuations Methods for Human-Centered Robotics and Associated Control Challenges},
    booktitle = {Control Problems in Robotics},
    publisher = {Springer, Berlin, Heidelberg, Germany},
    year = {2003},
    editor = {A.~Bicchi and H.~Christensen and D.~Prattichizzo},
    volume = {4},
    series = {Springer Tracts in Advanced Robotics},
    pages = {105--120},
    publisherurl = {SpringerURL},
    puburl = {images/pdfs/Zinn_2003_CSSRAS.pdf},
    seriesurl = {StarURL}
}

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

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

2002

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

@INPROCEEDINGS{Bowling:02,
    author = {A.~Bowling and O.~Khatib},
    title = {Actuator Selection for Desired Dynamic Performance},
    booktitle = {IROS},
    year = {2002},
    volume = {2},
    pages = {1966--1973},
    address = {Lausanne, Switzerland},
    month = oct,
    puburl = {images/pdfs/Bowling_2002_IROS.pdf}
}

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

@INPROCEEDINGS{Minguez:02,
    author = {J.~Minguez and L.~Montano and O.~Khatib},
    title = {Reactive Collision Avoidance for Navigation with Dynamic Constraints},
    booktitle = {IROS},
    year = {2002},
    volume = {1},
    pages = {588--594},
    address = {Lausanne, Switzerland},
    month = oct,
    puburl = {images/pdfs/Minguez_2002.pdf}
}

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

@INCOLLECTION{Zinn:02,
    author = {M.~Zinn and O.~Khatib and B.~Roth and J.~K.~Salisbury},
    title = {Towards A Human-Centered Intrinsically-Safe Robotic Manipulator},
    booktitle = {Proc. of the Second IARP-IEEE/RAS Joint Workshop on Technical Challenges for Dependable Robots in Human Environments},
    year = {2002},
    pages = {588--594},
    address = {Toulouse, France},
    month = oct,
    puburl = {images/pdfs/Zinn_2002_IARP.pdf}
}

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

@INPROCEEDINGS{Khatib:02,
    author = {O.~Khatib},
    title = {Human-Centered Robotics and Haptic Interaction: From Assistance to Surgery, the Emerging Applications},
    booktitle = {ROMOCO},
    year = {2002},
    pages = {137--139},
    address = {Bukowy, Poland},
    month = nov,
    puburl = {images/pdfs/Khatib_2002.pdf}
}

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

@INPROCEEDINGS{Brock:02,
    author = {O.~Brock and O.~Khatib and S.~Viji},
    title = {Task-Consistent Obstacle Avoidance for Mobile Manipulation (3 min)},
    booktitle = {IVideoCRA},
    year = {2002},
    address = {Washington, DC, USA },
    month = may,
    key = {keyVideo}
}

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

@INPROCEEDINGS{Brock:02a,
    author = {O.~Brock and O.~Khatib and S.~Viji},
    title = {Task-Consistent Obstacle Avoidance and Motion Behavior for Mobile Manipulation},
    booktitle = {ICRA},
    year = {2002},
    volume = {1},
    pages = {388--393},
    address = {Washington, DC, USA},
    month = may,
    puburl = {images/pdfs/Brock_2002_ICRA.pdf}
}

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

@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 = {ICRA},
    year = {2002},
    volume = {1},
    pages = {400--405},
    address = {Washington, DC, USA},
    month = may,
    puburl = {images/pdfs/Jamisola_2002_ICRA.pdf}
}

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

@ARTICLE{Khatib:02a,
    author = {O.~Khatib and O.~Brock and K.-S.~Chang and F.~Conti and D.~C.~Ruspini and L.~Sentis},
    title = {Robotics and Interactive Simulation},
    journal = {Communications of the ACM},
    year = {2002},
    volume = {45},
    pages = {46--51},
    number = {3},
    month = mar,
    journalurl = {CoACMURL},
    puburl = {images/pdfs/Khatib_2002_ACM.pdf}
}

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

@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 = {RoManSy},
    year = {2002},
    editor = {G.~Binachi and J.-P.~Guinot and C.~Rzymkowski},
    pages = {189--200},
    address = {Udine, Italy},
    month = jul,
    publisher = {Springer, Vienna, Austria, 1998}
}

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

@ARTICLE{Brock:02b,
    author = {O.~Brock and O.~Khatib},
    title = {Elastic Strips: {A} Framework for Motion Generation in Human Environments},
    journal = {IJRR},
    year = {2002},
    volume = {21},
    pages = {1031--1052},
    number = {12},
    month = dec,
    journalurl = {IJrnlRRURL},
    puburl = {images/pdfs/Brock_2002_IJRR.pdf}
}

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

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

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

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

2001

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

@INPROCEEDINGS{Turro:01,
    author = {N.~Turro and O.~Khatib and E.~Coste-Maniere},
    title = {Haptically Augmented Teleoperation},
    booktitle = {ICRA},
    year = {2001},
    volume = {1},
    pages = {386--392},
    address = {Seoul, South Korea},
    month = may,
    puburl = {images/pdfs/Turro_2001_ICRA.pdf}
}

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

@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},
    year = {2001},
    pages = {4},
    address = {Hong Kong, China},
    month = dez,
    publisher = {Springer-Verlag}
}

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

@ARTICLE{Ruspini:01,
    author = {D.~C.~Ruspini and O.~Khatib},
    title = {Haptic Display for Human Interaction with Virtual Dynamic Environments},
    journal = {JRS, Special Issue on Biorobotics and Humanoid Robotics},
    year = {2001},
    volume = {18},
    pages = {769--783},
    number = {12},
    month = dec,
    puburl = {images/pdfs/Ruspini_2001_JRS.pdf}
}

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

@ARTICLE{Chang:01,
    author = {K.-S.~Chang and O.~Khatib},
    title = {Efficient Recursive Algorithm for the Operational Space Inertia Matrix of Branching Mechanisms},
    journal = {ADRO},
    year = {2001},
    volume = {14},
    pages = {703--715},
    number = {8},
    journalurl = {ADROURL},
    puburl = {images/pdfs/Chang_2001_AR.pdf}
}

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

@ARTICLE{Khatib:01,
    author = {O.~Khatib and K.~Yokoi and O.~Brock and K.~Chang and A.~Casal},
    title = {Robots in Human Environments},
    journal = {Archives of Control Sciences, Special Issue on Recent Developments in Robotics, Part I},
    year = {2001},
    volume = {11},
    pages = {123--138},
    number = {3--4},
    puburl = {images/pdfs/Khatib_2001.pdf}
}

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

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

2000

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

@INPROCEEDINGS{Ruspini:00a,
    author = {D.~C.~Ruspini and O.~Khatib},
    title = {A Framework for Multi-Contact Multi-Body Dynamic Simulation and Haptic Display},
    booktitle = {IROS},
    year = {2000},
    volume = {2},
    pages = {1322--1327},
    address = {Takamatsu, Japan},
    month = oct,
    puburl = {images/pdfs/Ruspini_2000.pdf}
}

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

@ARTICLE{Holmberg:00a,
    author = {R.~Holmberg and O.~Khatib},
    title = {Development and Control of a Holonomic Mobile Robot for Mobile Manipulation Tasks},
    journal = {IJRR},
    year = {2000},
    volume = {19},
    pages = {1066--1074},
    number = {11},
    month = nov,
    journalurl = {IJrnlRRURL}
}

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

@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},
    year = {2000},
    editor = {J.~Lenar\v{c}i\v{c} and M.~M.~Stanisic},
    pages = {175--186},
    address = {Piran, Slovenia},
    month = jun
}

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

@INPROCEEDINGS{Holmberg:00,
    author = {R.~Holmberg and O.~Khatib},
    title = {A Powered-Caster Holonomic Robotic Vehicle for Mobile Manipulation Tasks},
    booktitle = {RoManSy},
    year = {2000},
    editor = {A.~Morecki and G.~Binachi and C.~Rzymkowski},
    pages = {157--167},
    address = {Zakopane, Poland},
    month = jul,
    publisher = {Springer, Vienna, Austria, 1998}
}

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

@INPROCEEDINGS{Brock:00b,
    author = {O.~Brock and O.~Khatib},
    title = {Integrated Planning and Execution: {E}lastic Strips},
    booktitle = {Proc. of the World Automation Congress},
    year = {2000},
    pages = {ISORA-025},
    address = {Maui, HI, USA},
    month = dec,
    puburl = {images/pdfs/Brock_2000.pdf}
}

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

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

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

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

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

@INPROCEEDINGS{Bowling:00,
    author = {A.~Bowling and O.~Khatib},
    title = {Robot Acceleration Capability: {T}he Actuation Efficiency Measure},
    booktitle = {ICRA},
    year = {2000},
    volume = {4},
    pages = {3970--3975},
    address = {San Francisco, CA, USA},
    month = apr,
    puburl = {images/pdfs/Bowling_2000_ICRA.pdf}
}

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

@INPROCEEDINGS{Brock:00,
    author = {O.~Brock and O.~Khatib},
    title = {High-Speed Navigation Using the Global Dynamic Window Approach (2.5 min)},
    booktitle = {IVideoCRA},
    year = {2000},
    address = {San Francisco, CA, USA},
    month = apr,
    key = {keyVideo}
}

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

@INPROCEEDINGS{Brock:00a,
    author = {O.~Brock and O.~Khatib},
    title = {Real-Time Replanning in High-Dimensional Configuration Spaces Using Sets of Homotopic Paths},
    booktitle = {ICRA},
    year = {2000},
    volume = {1},
    pages = {550--555},
    address = {San Francisco, CA, USA},
    month = apr,
    puburl = {images/pdfs/Brock_2000_ICRA.pdf}
}

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

@INPROCEEDINGS{Bruyninckx:00,
    author = {H.~Bruyninckx and O.~Khatib},
    title = {Gauss Principle and the Dynamics of Redundant and Constrained Manipulators},
    booktitle = {ICRA},
    year = {2000},
    volume = {3},
    pages = {2563--2568},
    address = {San Francisco, CA, USA},
    month = apr,
    puburl = {images/pdfs/Bruyninckx_2000_ICRA.pdf}
}

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

@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 = {ICRA},
    year = {2000},
    volume = {1},
    pages = {470--475},
    address = {San Francisco, CA, USA},
    month = apr,
    puburl = {images/pdfs/Chang_2000_ICRA-1.pdf}
}

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

@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 = {ICRA},
    year = {2000},
    volume = {1},
    pages = {850--856},
    address = {San Francisco, CA, USA},
    month = apr,
    puburl = {images/pdfs/Chang_2000_ICRA-2.pdf}
}

1999

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

@INPROCEEDINGS{Chang:99,
    author = {K.~C.~Chang and O.~Khatib},
    title = {Efficient Algorithm for Extended Operational Space Inertia Matrix},
    booktitle = {IROS},
    year = {1999},
    volume = {1},
    pages = {350--355},
    address = {Kyongju, South Korea},
    month = oct,
    puburl = {images/pdfs/Chang_1999.pdf}
}

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

@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 = {ICAR},
    year = {1999},
    pages = {323--328},
    address = {Tokyo, Japan},
    month = oct
}

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

@INPROCEEDINGS{Ruspini:99a,
    author = {D.~C.~Ruspini and O.~Khatib},
    title = {Collision/Contact Models for Dynamic Simulation and Haptic Interaction},
    booktitle = {ISRR},
    year = {1999},
    editor = {J.~Hollerbach and D.~E.~Koditschek},
    pages = {185--194},
    address = {Snowbird, UT, USA},
    month = oct,
    publisher = {Springer, London, UK, 2000}
}

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

@PHDTHESIS{Brock:99c,
    author = {O.~Brock},
    title = {Generation of Robot Motion: {T}he Integration of Planning and Execution},
    school = {Artificial Intelligence Laboratory, Department of Computer Science,     year = {1999},
    month = nov,
    puburl = {images/pdfs/Brock_1999_thesis.pdf},
    schoolurl = {http://cs.stanford.edu/group/manips}
}

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

@INPROCEEDINGS{Brock:99a,
    author = {O.~Brock and O.~Khatib},
    title = {High-Speed Navigation Using the Global Dynamic Window Approach},
    booktitle = {ICRA},
    year = {1999},
    volume = {1},
    pages = {341--346},
    address = {Detroit, MI, USA},
    month = may,
    puburl = {images/pdfs/Brock_1999_ICRA.pdf}
}

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

@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 = {ICRA},
    year = {1999},
    volume = {4},
    pages = {3281--3286},
    address = {Detroit, MI, USA},
    month = may,
    puburl = {images/pdfs/Featherstone_1999_ICRA.pdf}
}

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

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

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

@INPROCEEDINGS{Khatib:99,
    author = {O.~Khatib and O.~Brock and K.~Yokoi and R.~Holmberg},
    title = {Dancing with Juliet (2.5 min)},
    booktitle = {IVideoCRA},
    year = {1999},
    address = {Detroit, MI, USA},
    month = may,
    key = {keyVideo}
}

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

@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 = {ICRA},
    year = {1999},
    volume = {1},
    pages = {741--746},
    address = {Detroit, MI, USA},
    month = may,
    puburl = {images/pdfs/VanderLoos_1999_ICRA.pdf}
}

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

@INPROCEEDINGS{Brock:99,
    author = {O.~Brock and O.~Khatib},
    title = {Elastic Strips: {A} Framework for Integrated Planning and Execution},
    booktitle = {Experimental Robotics VI, ISER},
    year = {1999},
    editor = {P.~I.~Corke and J.~P.~Trevelyan},
    pages = {329--338},
    address = {Sydney, Australia},
    month = mar,
    publisher = {Springer-Verlag, Berlin, Heidelberg, Germany, 2000},
    puburl = {images/pdfs/Brock_1999_ISER.pdf}
}

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

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

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

@INPROCEEDINGS{Khatib:99b,
    author = {O.~Khatib and K.~Yokoi and O.~Brock and K.~Chang and A.~Casal},
    title = {Robots in Human Environments},
    booktitle = {ROMOCO},
    year = {1999},
    pages = {213--221},
    address = {Kiekrz, Poland},
    month = jun,
    puburl = {images/pdfs/Khatib_1999.pdf}
}

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

@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},
    year = {1999},
    volume = {3},
    pages = {924--929},
    address = {Oulu, Finland},
    month = jun
}

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

@INPROCEEDINGS{Brock:99b,
    author = {O.~Brock and O.~Khatib},
    title = {Real-Time Obstacle Avoidance and Motion Coordination in a Multi-Robot Workcell},
    booktitle = {ISATP},
    year = {1999},
    pages = {274--279},
    address = {Porto, Portugal},
    month = jul,
    puburl = {images/pdfs/Brock_1999_ISTAP.pdf}
}

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

@ARTICLE{Khatib:99d,
    author = {O.~Khatib and K.~Yokoi and O.~Brock and K.~Chang and A.~Casal},
    title = {Robots in Human Environments: {B}asic Autonomous Capabilities},
    journal = {IJRR},
    year = {1999},
    volume = {18},
    pages = {684--696},
    number = {7},
    month = jul,
    journalurl = {IJrnlRRURL},
    puburl = {images/pdfs/Khatib_1999_IJRR.pdf}
}

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

@ARTICLE{Khatib:99c,
    author = {O.~Khatib},
    title = {Mobile Manipulation: {T}he Robotic Assistant},
    journal = {Journal of Robotics and Autonomous Systems},
    year = {1999},
    volume = {26},
    pages = {175--183},
    month = feb,
    puburl = {images/pdfs/Khatib_1999_JRAS.pdf}
}

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

@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},
    year = {1999},
    pages = {268--273},
    address = {Pittsburgh, PA, USA},
    month = aug
}

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

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

1998

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

@INPROCEEDINGS{Bowling:98a,
    author = {A.~Bowling and O.~Khatib},
    title = {The Motion Isotropy Hypersurface: {A} Characterization of Acceleration},
    booktitle = {IROS},
    year = {1998},
    volume = {2},
    pages = {965--971},
    address = {Victoria, BC, Canada},
    month = oct,
    puburl = {images/pdfs/Bowling_1998_IROS.pdf}
}

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

@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},
    year = {1998},
    pages = {III-2:1-11},
    address = {Tsukuba, Japan},
    month = oct
}

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

@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},
    year = {1998},
    pages = {172--179},
    address = {Beijing, China},
    month = oct
}

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

@INPROCEEDINGS{Brock:98b,
    author = {O.~Brock and O.~Khatib},
    title = {Executing Motion Plans for Robots with Many Degrees of Freedom in Dynamic Environments},
    booktitle = {ICRA},
    year = {1998},
    volume = {1},
    pages = {1--6},
    address = {Leuven, Belgium},
    month = may,
    puburl = {images/pdfs/Brock_1998_ICRA.pdf}
}

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

@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},
    year = {1998},
    editor = {A.~Ollero},
    pages = {245--250},
    address = {Seville, Spain},
    month = mar
}

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

@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},
    year = {1998},
    pages = {523--532},
    address = {Strobl/Salzburg, Austria},
    month = jun,
    puburl = {images/pdfs/Ruspini_1998_ARK.pdf}
}

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

@INPROCEEDINGS{Bowling:98,
    author = {A.~Bowling and O.~Khatib},
    title = {Modular Redundant Manipulator Design for Dynamic Performance},
    booktitle = {RoManSy},
    year = {1998},
    editor = {A.~Morecki and G.~Binachi and M.~Wojtyra},
    pages = {297--307},
    address = {Paris, France},
    month = jul,
    publisher = {Springer, Vienna, Austria, 1998},
    puburl = {images/pdfs/Bowling_1998.pdf}
}

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

@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},
    year = {1998},
    volume = {1},
    pages = {162--167},
    address = {V{\"a}steras, Sweden},
    month = aug,
    puburl = {images/pdfs/Mooney_1998.pdf}
}

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

@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},
    year = {1998},
    pages = {839--845},
    address = {Hammamet, Tunisia},
    month = apr,
    puburl = {images/pdfs/Brock_1998.pdf},
    volue = {4}
}

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

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

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

@BOOK{Almeida:98,
    title = {Autonomous Robotic Systems},
    publisher = {Springer, Berlin, Heidelberg, Germany},
    year = {1998},
    editor = {A.~T.~De~Almeida and O.~Khatib},
    publisherurl = {SpringerURL}
}

1997

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

@INPROCEEDINGS{Ruspini:97a,
    author = {D.~C.~Ruspini and K.~Kolarov and O.~Khatib},
    title = {Haptic Interaction in Virtual Environments},
    booktitle = {IROS},
    year = {1997},
    volume = {1},
    pages = {128--133},
    address = {Grenoble, France},
    month = sep,
    puburl = {images/pdfs/Ruspini_1997_IROS.pdf}
}

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

@INPROCEEDINGS{Brock:97,
    author = {O.~Brock and O.~Khatib},
    title = {Elastic Strips: Real-Time Path Modification for Mobile Manipulation},
    booktitle = {ISRR},
    year = {1997},
    editor = {Y.~Shirai and S.~Hirose},
    pages = {5--13},
    address = {Hayama, Japan},
    month = oct,
    publisher = {Springer, Berlin, Heidelberg, Germany, 1998},
    puburl = {images/pdfs/Brock_1997_ISRR.pdf}
}

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

@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},
    year = {1997},
    pages = {453--460},
    address = {Dedham, MA, USA},
    month = oct
}

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

@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, ISER},
    year = {1997},
    editor = {A.~Casals and A.~T.~de~Almeida},
    pages = {128--139},
    address = {Barelona, Catalonia, Spain},
    month = jun,
    publisher = {Springer-Verlag, Berlin, Heidelberg, Germany, 1998}
}

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

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

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

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

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

@INPROCEEDINGS{Bowling:97,
    author = {A.~Bowling and O.~Khatib},
    title = {Design of Non-Redundant Manipulators for Optimal Dynamic Performance},
    booktitle = {ICAR},
    year = {1997},
    pages = {865--872},
    address = {Monterey, CA, USA},
    month = jul,
    puburl = {images/pdfs/Bowling_1997_ICAR.pdf}
}

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

@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},
    year = {1997},
    pages = {57--62},
    address = {Hong Kong},
    month = jul
}

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

@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},
    year = {1997},
    pages = {14--17},
    address = {Canberra, Australia},
    month = dec
}

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

@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},
    year = {1997},
    pages = {345--352},
    address = {Los Angeles, CA, USA},
    month = aug,
    publisher = {ACM Press/Addison-Wesley Publishing Co., New York, NY, USA},
    puburl = {images/pdfs/Ruspini_1997_SIGGRAPH.pdf}
}

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

@INPROCEEDINGS{Bowling:97,
    author = {A.~Bowling and O.~Khatib},
    title = {Design of Macro/Mini Manipulators for Optimal Dynamic Performance},
    booktitle = {ICRA},
    year = {1997},
    volume = {1},
    pages = {449--454},
    address = {Albuquerque, NM, USA},
    month = apr,
    puburl = {images/pdfs/Bowling_1997_ICRA.pdf}
}

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

@ARTICLE{Featherstone:97b,
    author = {R.~Featherstone and O.~Khatib},
    title = {Load-Independence of the Dynamically-Consistent Inverse of the Jacobian Matrix},
    journal = {IJRR},
    year = {1997},
    volume = {16},
    pages = {168--170},
    number = {2},
    month = apr,
    journalurl = {IJrnlRRURL}
}

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

@INPROCEEDINGS{Khatib:97,
    author = {O.~Khatib and K.~Yokoi and K.~Chang and A.~Casal},
    title = {The Stanford Robotic Platforms (2.5 min)},
    booktitle = {IVideoCRA},
    year = {1997},
    address = {Albuquerque, NM, USA},
    month = apr,
    key = {keyVideo}
}

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

@ARTICLE{Khatib:97c,
    author = {O.~Khatib and S.~Quinlan and D.~Williams},
    title = {Robot Planning and Control},
    journal = {Journal of Robotics and Autonomous Systems},
    year = {1997},
    volume = {16},
    pages = {249--261},
    number = {3},
    puburl = {images/pdfs/Khatib_1997_JRAS.pdf}
}

1996

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

@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},
    year = {1996},
    pages = {453--460},
    address = {Dedham, MA, USA},
    month = sep
}

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

@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 = {IROS},
    year = {1996},
    volume = {2},
    pages = {546--553},
    address = {Osaka, Japan},
    month = nov,
    puburl = {images/pdfs/Khatib_1996_IROS.pdf}
}

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

@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},
    year = {1996},
    pages = {183--188},
    address = {Tsukuba, Japan},
    month = nov,
    puburl = {images/pdfs/Khatib_1996.pdf}
}

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

@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},
    year = {1996},
    pages = {345--350},
    address = {Montpellier, France},
    month = may
}

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

@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},
    year = {1996},
    pages = {29--38},
    address = {Portoroz, Slovenia},
    month = jun
}

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

@INPROCEEDINGS{Khatib:96d,
    author = {O.~Khatib},
    title = {Mobile Manipulator Systems},
    booktitle = {RoManSy},
    year = {1996},
    editor = {A.~Morecki and G.~Binachi and C.~Rzymkowski},
    pages = {3--10},
    address = {Udine, Italy},
    month = jul,
    publisher = {Springer, Vienna, Austria, 1995}
}

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

@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},
    year = {1996},
    pages = {19--24},
    address = {San Francisco, CA, USA},
    month = jul
}

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

@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},
    year = {1996},
    pages = {461--468},
    address = {Cairo, Egypt},
    month = jan
}

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

@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},
    year = {1996},
    editor = {J.~K.~Salisbury and M.~A.~Srinivasan},
    address = {Cambridge, MA, USA},
    month = dec
}

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

@ARTICLE{Khatib:96h,
    author = {O.~Khatib},
    title = {The Impact of Redundancy on the Dynamic Performance of Robots},
    journal = {Journal of Laboratory Robotics and Automation},
    year = {1996},
    volume = {8},
    pages = {37--48},
    number = {1},
    month = aug,
    journalurl = {http://www3.interscience.wiley.com/journal/37416/home}
}

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

@INPROCEEDINGS{Khatib:96b,
    author = {O.~Khatib and A.~Bowling},
    title = {Optimization of the Inertial and Acceleration Characteristics of Manipulators},
    booktitle = {ICRA},
    year = {1996},
    volume = {4},
    pages = {2883--2889},
    address = {Minneapolis, MN, USA},
    month = apr,
    puburl = {images/pdfs/Khatib_1996_ICRA.pdf}
}

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

@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 = {IVideoCRA},
    year = {1996},
    address = {Minneapolis, MN, USA},
    month = apr,
    key = {keyVideo}
}

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

@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 = {IVideoCRA},
    year = {1996},
    address = {Minneapolis, MN, USA},
    month = apr,
    key = {keyVideo}
}

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

@ARTICLE{Khatib:96i,
    author = {O.~Khatib and K.~Yokoi and K.~Chang and D.~C.~Ruspini and R.~Holmberg and A.~Casal},
    title = {Coordination and Decentralized Cooperation of Multiple Mobile Manipulators},
    journal = {JRS},
    year = {1996},
    volume = {13},
    pages = {755--764},
    number = {11},
    puburl = {images/pdfs/Khatib_1996_JRS.pdf}
}

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

@BOOK{Khatib:96j,
    title = {Experimental Robotics IV},
    publisher = {Springer, Berlin, Heidelberg, Germany},
    year = {1996},
    editor = {O.~Khatib and J.~K.~Salisbury},
    publisherurl = {SpringerURL}
}

1995

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

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

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

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

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

@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},
    year = {1995},
    pages = {500--510},
    address = {Paderborn, Germany},
    month = oct
}

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

@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 = {ISRR},
    year = {1995},
    editor = {G.~Giralt and G.~Hirzinger},
    pages = {333--342},
    address = {Herrsching, Germany},
    month = oct,
    publisher = {Springer, Berlin, Heidelberg, Germany, 1996},
    puburl = {images/pdfs/Khatib_1995_ISRR.pdf}
}

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

@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 = {ICRA},
    year = {1995},
    volume = {1},
    pages = {1056--1061},
    address = {Nagoya, Japan},
    month = may,
    puburl = {images/pdfs/Russakov_1995_ICRA.pdf}
}

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

@INPROCEEDINGS{Williams:95,
    author = {D.~Williams and O.~Khatib},
    title = {Multi-Grasp Manipulation (3 min)},
    booktitle = {IVideoCRA},
    year = {1995},
    address = {Nagoya, Japan},
    month = may,
    key = {keyVideo}
}

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

@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 = {IVideoSER},
    year = {1995},
    editor = {O.~Khatib and J.~K.~Salisbury},
    address = {Stanford, CA, USA},
    month = jun,
    key = {keyVideo}
}

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

@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, ISER},
    year = {1995},
    editor = {O.~Khatib and J.~K.~Salisbury},
    pages = {448--457},
    address = {Stanford, CA, USA},
    month = jun,
    publisher = {Springer-Verlag, Berlin, Heidelberg, Germany, 1997}
}

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

@INPROCEEDINGS{Williams:95a,
    author = {D.~Williams and O.~Khatib},
    title = {Improved Force Control for Conventional Arms Using Wrist-Based Torque Feedback (3 min)},
    booktitle = {IVideoSER},
    year = {1995},
    editor = {O.~Khatib and J.~K.~Salisbury},
    address = {Stanford, CA, USA},
    month = jun,
    key = {keyVideo}
}

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

@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, ISER},
    year = {1995},
    editor = {O.~Khatib and J.~K.~Salisbury},
    pages = {516--525},
    address = {Stanford, CA, USA},
    month = jun,
    publisher = {Springer-Verlag, Berlin, Heidelberg, Germany, 1997}
}

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

@ARTICLE{Khatib:95f,
    author = {O.~Khatib},
    title = {Inertial Properties in Robotics Manipulation: {A}n Object-Level Framework},
    journal = {IJRR},
    year = {1995},
    volume = {14},
    pages = {19--36},
    number = {1},
    month = feb,
    journalurl = {IJrnlRRURL},
    puburl = {images/pdfs/Khatib_1995.pdf}
}

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

@INPROCEEDINGS{Bowling:95,
    author = {A.~Bowling and O.~Khatib},
    title = {Analysis of the Acceleration Characteristics of Non-Redundant Manipulators},
    booktitle = {IROS},
    year = {1995},
    volume = {2},
    pages = {323--328},
    address = {Pittsburgh, PA, USA},
    month = aug,
    puburl = {images/pdfs/Bowling_1995.pdf}
}

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

@INPROCEEDINGS{Chang:95,
    author = {K.~Chang and O.~Khatib},
    title = {Manipulator Control at Kinematic Singularities: {A} Dynamically Consistent Strategy},
    booktitle = {IROS},
    year = {1995},
    volume = {3},
    pages = {84--88},
    address = {Pittsburgh, PA, USA},
    month = aug,
    puburl = {images/pdfs/Chang_1995.pdf}
}

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

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

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

@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},
    year = {1995},
    volume = {3},
    pages = {2343--2347},
    address = {Milan, Italy},
    month = aug
}

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

@ARTICLE{Vischer:95,
    author = {D.~Vischer and O.~Khatib},
    title = {Design and Development of High Performance Torque Controlled Joints},
    journal = {TransRA},
    year = {1995},
    volume = {11},
    pages = {537--544},
    number = {4},
    month = aug,
    journalurl = {IEEETraRAURL},
    puburl = {images/pdfs/Vischer_1995_TranRA.pdf}
}

1994

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

@INPROCEEDINGS{Bowling:94,
    author = {A.~Bowling and O.~Khatib},
    title = {Analysis of the Acceleration Characteristics of Manipulators},
    booktitle = {RoManSy},
    year = {1994},
    editor = {A.~Morecki and G.~Binachi and K.~Jaworek},
    pages = {59--64},
    address = {Gdansk, Poland},
    month = sep,
    publisher = {Springer, Vienna, Austria, 1995},
    puburl = {images/pdfs/Bowling_1994.pdf}
}

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

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

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

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

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

@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},
    year = {1994},
    pages = {371--377},
    address = {Perak, Malaysia},
    month = may
}

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

@INPROCEEDINGS{Lee:94,
    author = {P.~U.~Lee and D.~C.~Ruspini and O.~Khatib},
    title = {Dynamic Simulation of Interactive Robotic Environment},
    booktitle = {ICRA},
    year = {1994},
    volume = {2},
    pages = {1147--1152},
    address = {San Diego, CA, USA},
    month = may,
    puburl = {images/pdfs/Lee_1994_ICRA.pdf}
}

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

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

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

@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},
    year = {1994},
    editor = {L.~A.~Demsetz and P.~R.~Klarer},
    pages = {10--18},
    address = {Albuquerque, NM, USA},
    month = feb,
    publisher = {ASCE, New York, NY, USA},
    puburl = {images/pdfs/Woodfill_1994_ASCE.pdf}
}

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

@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},
    year = {1994},
    editor = {M.~Jamshidl and C.~Nauyen and R.~Lumia and J.~Yuh},
    volume = {5},
    pages = {735--741},
    address = {Maui, HI, USA},
    month = aug,
    publisher = {ASME Press, New York, NY, USA},
    publisherurl = {http://www.asmepress.org}
}

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

@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},
    year = {1994},
    editor = {J.~Lenar\v{c}i\v{c} and B.~Ravani},
    pages = {221--228},
    address = {Ljubljana, Slovenia},
    publisher = {Kluwer Academic Publishers}
}

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

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

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

@MISC{Khatib:94,
    author = {O.~Khatib and D.~Williams and S.~Quinlan and D.~C.~Ruspini and R.~Holmberg and K.~Chang and R.~Zabih},
    title = {Robotic Manipulation (23 min)},
    howpublished = {Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, Stanford, CA, USA},
    year = {1994},
    key = {keyVideo}
}

1993

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

@INPROCEEDINGS{Williams:93,
    author = {D.~Williams and O.~Khatib},
    title = {Experiments in Multi-Grasp Manipulation (3 min)},
    booktitle = {IVideoSER},
    year = {1993},
    editor = {T.~Yoshikawa and F.~Miyazaki},
    address = {Kyoto, Japan},
    month = oct,
    key = {keyVideo}
}

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

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

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

@INPROCEEDINGS{Quinlan:93a,
    author = {S.~Quinlan and O.~Khatib},
    title = {Elastic Bands: {C}onnecting Path Planning and Control},
    booktitle = {ICRA},
    year = {1993},
    volume = {2},
    pages = {802--807},
    address = {Atlanta, GA, USA},
    month = may,
    puburl = {images/pdfs/Quinlan_1993_ICRA.pdf}
}

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

@INPROCEEDINGS{Williams:93a,
    author = {D.~Williams and O.~Khatib},
    title = {The Virtual Linkage: {A} Model for Internal Forces in Multi-Grasp Manipulation},
    booktitle = {ICRA},
    year = {1993},
    volume = {1},
    pages = {1025--1030},
    address = {Atlanta, GA, USA},
    month = may,
    puburl = {images/pdfs/Williams_1993_ICRA.pdf}
}

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

@INPROCEEDINGS{Khatib:93a,
    author = {O.~Khatib},
    title = {A Framework for Task-Level Robotics Manipulation (3 min)},
    booktitle = {IVideoSER},
    year = {1993},
    editor = {T.~Kanade and R.~Paul},
    address = {Hidden Valley, PA, USA},
    key = {keyVideo}
}

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

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

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

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

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

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

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

@ARTICLE{Khatib:93d,
    author = {O.~Khatib},
    title = {The Operational Space Framework},
    journal = {JSME International Journal. Ser. C: Dynamics, Control, Robotics, Design and Manufacturing},
    year = {1993},
    volume = {36},
    pages = {277--287},
    number = {3},
    journalurl = {http://ci.nii.ac.jp/vol_issue/nels/AA10898309/ISS0000309378_en.html},
    publisher = {The Japan Society of Mechanical Engineers},
    publisherurl = {http://www.jsme.or.jp/English},
    puburl = {images/pdfs/Khatib_1993_JSME.pdf}
}

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

@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},
    year = {1993},
    editor = {O.~Khatib and V.~Hayward and R.~Chatila},
    key = {keyVideo,keyPlanning}
}

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

@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},
    year = {1993},
    editor = {O.~Khatib and V.~Hayward and R.~Chatila},
    key = {keyVideo,keyPlanning}
}

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

@PROCEEDINGS{Khatib:93,
    title = {Video Proc. of Experimental Robotics I and II: Int. Symposia on Experimental Robotics (62 min)},
    year = {1993},
    editor = {O.~Khatib and V.~Hayward and R.~Chatila},
    organization = {IEEE Educational Activities},
    key = {keyVideo}
}

1992

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

@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},
    year = {1992},
    volume = {2},
    pages = {395--403},
    address = {Toulouse, France},
    month = oct,
    puburl = {images/pdfs/Russakow_1992.pdf}
}

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

@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},
    year = {1992},
    pages = {731--738},
    address = {Tokyo, Japan},
    month = nov
}

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

@TECHREPORT{Khatib:92,
    author = {O.~Khatib},
    title = {Inertial Properties in Robotics Manipulation},
    institution = {Department of Computer Science, Stanford University, Stanford, CA,     year = {1992},
    number = {STAN-CS-92-1457},
    month = dec
}

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

@INPROCEEDINGS{Holmberg:92,
    author = {R.~Holmberg and S.~Dickert and O.~Khatib},
    title = {A New Actuation System for High-Performance Torque-Controlled Manipulators},
    booktitle = {RoManSy},
    year = {1992},
    editor = {A.~Morecki and G.~Binachi and K.~Jaworek},
    pages = {285--292},
    address = {Udine, Italy},
    publisher = {Springer, London, UK},
    puburl = {images/pdfs/Holmberg_1992.pdf}
}

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

@BOOK{Khatib:92a,
    title = {The Robotics Review 2},
    publisher = {The {M}{I}{T} Press, Cambridge, MA, USA},
    year = {1992},
    editor = {O.~Khatib and J.~Craig and T.~Lozano-P{\'e}rez,},
    publisherurl = {http://mitpress.mit.edu}
}

1991

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

@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},
    year = {1991},
    pages = {162--165},
    address = {Asilomar, CA, USA},
    month = nov,
    puburl = {images/pdfs/Woodfill_1991.pdf}
}

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

@INPROCEEDINGS{Khatib:91a,
    author = {O.~Khatib and B.~Roth},
    title = {New Robot Mechanisms for New Robot Capabilities},
    booktitle = {IROS},
    year = {1991},
    volume = {1},
    pages = {44--49},
    address = {Osaka, Japan},
    month = nov,
    puburl = {images/pdfs/Khatib_1991_IROS.pdf}
}

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

@INPROCEEDINGS{Quinlan:91,
    author = {D.~Quinlan and O.~Khatib},
    title = {Towards Real-Time Execution of Motion Tasks},
    booktitle = {Experimental Robotics II, ISER},
    year = {1991},
    editor = {R.~Chatila and G.~Hirzinger},
    pages = {241--254},
    address = {Toulouse, France},
    month = jun,
    publisher = {Springer-Verlag, Berlin, Heidelberg, Germany, 1993},
    puburl = {images/pdfs/Quinlan_1991_ISER.pdf}
}

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

@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},
    year = {1991},
    pages = {44--49},
    address = {Marseille, France},
    month = dec
}

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

@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},
    year = {1991},
    volume = {2},
    pages = {475--478},
    address = {Prague, Czechoslovakia},
    month = aug,
    puburl = {images/pdfs/Khatib_1991.pdf}
}

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

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

1990

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

@INPROCEEDINGS{Khatib:90a,
    author = {O.~Khatib},
    title = {Motion/Force Redundancy of Manipulators},
    booktitle = {Proc. of the Japan-USA Symposium on Flexible Automation},
    year = {1990},
    volume = {1},
    pages = {337--342},
    address = {Kyoto, Japan},
    month = jul,
    puburl = {images/pdfs/Khatib_1990_2.pdf}
}

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

@INPROCEEDINGS{Vischer:90,
    author = {D.~Vischer and O.~Khatib},
    title = {Performance Evaluation of Force/Torque Feedback Control Methodologies},
    booktitle = {RoManSy},
    year = {1990},
    editor = {A.~Morecki and G.~Binachi and K.~Jaworek},
    pages = {186--193},
    address = {Cracow, Poland},
    month = jul,
    puburl = {images/pdfs/Vischer_1990_ROMANSY.pdf}
}

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

@INPROCEEDINGS{Khatib:90,
    author = {O.~Khatib},
    title = {Object Level Manipulation},
    booktitle = {Proc. of the {I}{E}{E}{E} International Workshop on Intelligent Motron Control},
    year = {1990},
    editor = {O.~Kaynak},
    pages = {497--502},
    address = {Istanbul, Turkey},
    month = aug,
    puburl = {images/pdfs/Khatib_1990_1.pdf}
}

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

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

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

@INPROCEEDINGS{Khatib:90b,
    author = {O.~Khatib},
    title = {Reduced Effective Inertia in Macro-/Mini-Manipulator Systems},
    booktitle = {ISRR},
    year = {1990},
    editor = {H.~Miura and S.~Arimoto},
    pages = {279--284},
    publisher = {The {M}{I}{T} Press, Cambridge, MA, USA},
    puburl = {images/pdfs/Khatib_1990_3.pdf}
}

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

@BOOK{Khatib:90d,
    title = {Experimental Robotics I},
    publisher = {Springer, Berlin, Heidelberg, Germany},
    year = {1990},
    editor = {V.~Hayward and O.~Khatib},
    publisherurl = {SpringerURL}
}

1989

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

@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},
    year = {1989},
    editor = {G.~ Schweitzer and M.~Mansour},
    pages = {258--270},
    address = {Z{\"u}rich, Switzerland},
    month = may,
    publisher = {Springer-Verlag, Berlin, Germany},
    puburl = {images/pdfs/Khatib_1989.pdf}
}

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

@INPROCEEDINGS{Vischer:89,
    author = {D.~Vischer and O.~Khatib},
    title = {Design and Development of Torque-Controlled Joints},
    booktitle = {Experimental Robotics I, ISER},
    year = {1989},
    editor = {V.~Hayward and O.~Khatib},
    pages = {271--286},
    address = {Montr{\'e}al, Canada},
    month = jun,
    publisher = {Springer-Verlag, Berlin, Germany, 1990},
    puburl = {images/pdfs/Vischer_1990.pdf}
}

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

@ARTICLE{Pfeffer:89,
    author = {L.~Pfeffer and O.~Khatib and J.~Hake},
    title = {Joint Torque Sensory Feedback in the Control of a {P}{U}{M}{A} Manipulator},
    journal = {TransRA},
    year = {1989},
    volume = {5},
    pages = {418--425},
    number = {4},
    month = aug,
    journalurl = {IEEETraRAURL},
    puburl = {images/pdfs/Pfeffer_1989_TransRA.pdf}
}

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

@BOOK{Khatib:89b,
    title = {The Robotics Review 1},
    publisher = {The {M}{I}{T} Press, Cambridge, MA, USA},
    year = {1989},
    editor = {O.~Khatib and J.~Craig and T.~Lozano-P{\'e}rez,},
    publisherurl = {http://mitpress.mit.edu}
}

1988

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

@INPROCEEDINGS{Khatib:88,
    author = {O.~Khatib},
    title = {Inertial Characteristics and Dextrous Dynamic Coordination of Macro/Micro-Manipulator Systems},
    booktitle = {RoManSy},
    year = {1988},
    editor = {A.~Morecki and G.~Binachi and K.~Jaworek},
    pages = {131--139},
    address = {Udine, Italy},
    month = sep,
    publisher = {Hermes, Paris, France}
}

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

@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},
    year = {1988},
    pages = {176--180},
    address = {Ljubljana, Yugoslavia},
    month = sep,
    puburl = {images/pdfs/Khatib_1988_3.pdf}
}

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

@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},
    year = {1988},
    pages = {62--66},
    address = {Ljubljana, Yugoslavia},
    month = sep,
    puburl = {images/pdfs/Roth_1988.pdf}
}

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

@INPROCEEDINGS{Khatib:88b,
    author = {O.~Khatib},
    title = {Object Manipulation in a Multi-Effector Robot System},
    booktitle = {ISRR},
    year = {1988},
    editor = {R.~Bolles and B.~Roth},
    pages = {137--144},
    address = {Santa Cruz, CA, USA},
    month = may,
    publisher = {The {M}{I}{T} Press, Cambridge, MA, USA},
    puburl = {images/pdfs/Khatib_1988_ISRR.pdf}
}

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

@INPROCEEDINGS{Khatib:88a,
    author = {O.~Khatib},
    title = {The Augmented Object and Reduced Effective Inertia in Robot Systems},
    booktitle = {ACC},
    year = {1988},
    volume = {3},
    pages = {2140--2147},
    address = {Atlanta, GA, USA},
    month = jun,
    puburl = {images/pdfs/Khatib_1988.pdf}
}

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

@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},
    year = {1988},
    editor = {Y.~Kabil and M.~Said},
    pages = {433--440},
    address = {Cairo, Egypt},
    month = dec,
    publisher = {Pergamon Press, Oxford, UK},
    puburl = {images/pdfs/Khatib_1988_2.pdf}
}

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

@ARTICLE{Shekhar:88,
    author = {S.~Shekhar and O.~Khatib and M.~Shimojo},
    title = {Object Localization with Multiple Sensors},
    journal = {IJRR},
    year = {1988},
    volume = {7},
    pages = {34--44},
    number = {6},
    month = dec,
    journalurl = {IJrnlRRURL},
    puburl = {images/pdfs/Shekhar_1988_IJRR.pdf}
}

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

@ARTICLE{Slotine:88,
    author = {J.~J.~Slotine and O.~Khatib and D.~Ruth},
    title = {Robust Control in Operational Space for Goal Positioned Manipulator Tasks},
    journal = {The International Journal of Robotics and Automation},
    year = {1988},
    volume = {3},
    pages = {28--34},
    number = {1},
    puburl = {images/pdfs/Slotine_1988_IJRA.pdf}
}

1987

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

@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},
    year = {1987},
    volume = {2},
    pages = {1213--1218},
    address = {Seville, Spain},
    month = sep,
    publisher = {Pergamon Press, Oxford, UK},
    puburl = {images/pdfs/Khatib_1987.pdf}
}

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

@INPROCEEDINGS{Slotine:87,
    author = {J.~J.~Slotine and O.~Khatib and D.~Ruth},
    title = {Robust Operational Space Control for Goal Positioned Manipulator Tasks},
    booktitle = {ICAR},
    year = {1987},
    pages = {503--512},
    address = {Versailles, France},
    month = oct,
    publisher = {IFS/Springer-Verlag}
}

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

@ARTICLE{Khatib:87b,
    author = {O.~Khatib},
    title = {A Unified Approach for Motion and Force Control of Robot Manipulators: {T}he Operational Space Formulation},
    journal = {{I}{E}{E}{E} Journal of Robotics and Automation},
    year = {1987},
    volume = {RA-3},
    pages = {43--53},
    number = {1},
    month = feb,
    journalurl = {IEEEJrnlRAURL},
    puburl = {images/pdfs/Khatib_1987_RA.pdf}
}

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

@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},
    year = {1987},
    pages = {169--176},
    address = {Boston, MA, USA},
    month = dec,
    puburl = {images/pdfs/Shekhar_1987.pdf}
}

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

@MISC{Burdick:87,
    author = {J.~Burdick and R.~Fearing and O.~Khatib and L.~Pfeffer and S.~Shekhar},
    title = {Sensor-Based Robot Control (10 min)},
    howpublished = {Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, Stanford, CA, USA},
    year = {1987},
    key = {keyVideo}
}

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

@ARTICLE{Khatib:87c,
    author = {O.~Khatib and J.~Burdick},
    title = {Optimization of Dynamics in Manipulator Design: {T}he Operational Space Formulation},
    journal = {The International Journal of Robotics and Automation},
    year = {1987},
    volume = {2},
    pages = {90--98},
    number = {2},
    puburl = {images/pdfs/Khatib_1987_IJRA.pdf}
}

1986

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

@ARTICLE{Khatib:86g,
    author = {O.~Khatib},
    title = {Real-Time Obstacle Avoidance for Manipulators and Mobile Robots},
    journal = {IJRR},
    year = {1986},
    volume = {5},
    pages = {90--98},
    number = {1},
    month = {Spring},
    journalurl = {IJrnlRRURL},
    puburl = {images/pdfs/Khatib_1986_IJRR.pdf}
}

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

@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},
    year = {1986},
    pages = {367--391},
    address = {Paris, France},
    month = sep,
    publisher = {The {M}{I}{T} Press, Cambridge, MA, USA},
    puburl = {images/pdfs/Khatib_1986_CNRS.pdf}
}

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

@INPROCEEDINGS{Khatib:86f,
    author = {O.~Khatib},
    title = {Redundant Manipulators and Kinematic Singularities: {T}he Operational Space Approach},
    booktitle = {RoManSy},
    year = {1986},
    editor = {A.~Morecki and G.~Binachi and K.~Kedzior},
    pages = {131--138},
    month = nov,
    publisher = {The {M}{I}{T} Press, Cambridge, MA, USA}
}

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

@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 = {ACC},
    year = {1986},
    volume = {2},
    pages = {818--824},
    address = {Seattle, WA, USA},
    month = jun
}

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

@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},
    year = {1986},
    pages = {93--98},
    address = {Osaka, Japan},
    month = jul,
    puburl = {images/pdfs/Khatib_1986.pdf}
}

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

@INPROCEEDINGS{Khatib:86d,
    author = {O.~Khatib},
    title = {The Operational Space Formulation in the Analysis, Design, and Control of Manipulators},
    booktitle = {ISRR},
    year = {1986},
    editor = {O.~Faugeras and G.~Giralt},
    pages = {261--270},
    address = {Gouvieux-Chantilly, France},
    month = dec,
    publisher = {The {M}{I}{T} Press, Cambridge, MA, USA},
    puburl = {images/pdfs/Khatib_1986_RR.pdf}
}

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

@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 = {ICRA},
    year = {1986},
    volume = {1},
    pages = {510--518},
    address = {San Francisco, CA, USA},
    month = apr,
    puburl = {images/pdfs/Armstrong_1986.pdf}
}

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

@INPROCEEDINGS{Khatib:86b,
    author = {O.~Khatib and J.~Burdick},
    title = {Motion and Force Control of Robot Manipulators},
    booktitle = {ICRA},
    year = {1986},
    volume = {3},
    pages = {1381--1386},
    address = {San Francisco, CA, USA},
    month = apr,
    puburl = {images/pdfs/Khatib_1986_ICRA.pdf}
}

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

@INPROCEEDINGS{Shekhar:86,
    author = {S.~Shekhar and O.~Khatib and M.~Shimojo},
    title = {Sensor Fusion and Object Localization},
    booktitle = {ICRA},
    year = {1986},
    volume = {3},
    pages = {1623--1628},
    address = {San Francisco, CA, USA},
    month = apr,
    puburl = {images/pdfs/Shekhar_1986.pdf}
}

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

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

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

@MISC{Khatib:86,
    author = {O.~Khatib and J.~Burdick},
    title = {Active Force Control (5 min)},
    howpublished = {Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, Stanford, CA, USA},
    year = {1986},
    key = {keyVideo}
}

1985

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

@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},
    year = {1985},
    pages = {165--172},
    address = {Tokyo, Japan},
    month = sep,
    puburl = {images/pdfs/Khatib_1985_ISIR.pdf}
}

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

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

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

@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},
    year = {1985},
    pages = {208--214},
    address = {Yale University, New Haven, CT, USA},
    month = may,
    puburl = {images/pdfs/Khatib_1985.pdf}
}

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

@INPROCEEDINGS{Khatib:85,
    author = {O.~Khatib},
    title = {Real-Time Obstacle Avoidance for Manipulators and Mobile Robots},
    booktitle = {ICRA},
    year = {1985},
    pages = {500--505},
    address = {St. Louis, MO, USA},
    month = mar
}

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

@TECHREPORT{Burdick:85,
    author = {J.~Burdick and O.~Khatib},
    title = {Force Control Research at Stanford},
    institution = {Honeywell Inc., Technology Strategy Center, Minneapolis, MN, USA},
    year = {1985},
    number = {7 (Intelligent Task Automation Interim Report)},
    month = apr,
    pages = {6/33--6/42}
}

1984

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

@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},
    year = {1984},
    pages = {9/1--9/7},
    address = {Palo Alto, CA, USA},
    month = oct,
    puburl = {images/pdfs/Khatib_1984_ASQC.pdf}
}

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

@TECHREPORT{Burdick:84,
    author = {J.~Burdick and O.~Khatib},
    title = {{C}{O}{S}{M}{O}{S} Control System},
    institution = {Honeywell Inc., Technology Strategy Center, Minneapolis, MN, USA},
    year = {1984},
    number = {4 (Intelligent Task Automation Interim Report)},
    month = jan,
    pages = {6/10--6/18}
}

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

@TECHREPORT{Burdick:84a,
    author = {J.~Burdick and O.~Khatib},
    title = {Force Control Implementation in {C}{O}{S}{M}{O}{S}},
    institution = {Honeywell Inc., Technology Strategy Center, Minneapolis, MN, USA},
    year = {1984},
    number = {5 (Intelligent Task Automation Interim Report)},
    month = apr,
    pages = {6/9--6/13}
}

1983

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

@TECHREPORT{Burdick:83,
    author = {J.~Burdick and O.~Khatib},
    title = {Cartesian Path Planning and Estimation},
    institution = {Honeywell Inc., Technology Strategy Center, Minneapolis, MN, USA},
    year = {1983},
    number = {3 (Intelligent Task Automation Interim Report)},
    month = jul,
    pages = {5/59--5/83}
}

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

@TECHREPORT{Craig:83,
    author = {J.~Craig and O.~Khatib and J.~Burdick},
    title = {Stanford's Contribution to Active Force Control for ITA},
    institution = {Honeywell Inc., Technology Strategy Center, Minneapolis, MN, USA},
    year = {1983},
    number = {3 (Intelligent Task Automation Interim Report)},
    month = jul,
    pages = {5/50--5/59}
}

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

@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},
    year = {1983},
    pages = {1128--1131},
    address = {New Delhi, India},
    month = dec,
    puburl = {images/pdfs/Khatib_1983.pdf}
}

1980

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

@PHDTHESIS{Khatib:80,
    author = {O.~Khatib},
    title = {Commande dynamique dans l'espace op{\'e}rationnel des robots manipulateurs en pr{\'e}sence d'obstacles},
    school = {Ecole Nationale Sup{\'e}rieure de l'a{\'e}ronautique et de l'espace,     year = {1980},
    month = dec,
    puburl = {images/pdfs/Khatib_1980_thesis.pdf}
}

1978

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

@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},
    year = {1978},
    pages = {267--282},
    address = {Udine, Italy},
    month = sep,
    puburl = {images/pdfs/Khatib_1978.pdf}
}

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

@TECHREPORT{Gallaire:78,
    author = {H.~Gallaire and O.~Khatib and C.~Lasserre and M.~Llibre and R.~Mampey},
    title = {Fonction D{\'e}cision-Commande d'un Robot Industriel},
    institution = {DERA-CERT, Toulouse, France},
    year = {1978},
    number = {1/7156 (Rapport Principal)},
    month = jul
}

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

@TECHREPORT{Khatib:78a,
    author = {O.~Khatib and M.~Llibre and R.~Mampey},
    title = {Fonction D{\'e}cision-Commande d'un Robot Manipulateur},
    institution = {DERA-CERT, Toulouse, France},
    year = {1978},
    number = {2/7156 (Rapport Scientifique)},
    month = jul
}