2008

Robot Multiple Contact Control
Jaheung Park and Oussama Khatib.
Robotica 2008.

Identifying Physical Properties of Deformable Objects by Using Particle Filters
Steve Burion, Francois Conti, Anna Petrovskaya and Oussama Khatib.
Proceedings of the IEEE International Conference in Robotics and Automation, Pasadena, USA, Mai 2008.

A Hybrid Actuation Approach for Human-Friendly Robot Design.
Dongjun Shin, Irene Sardellitti, and Oussama Khatib.
Proc. of the 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, 2008.

2007

Synthesis and Control of Whole-Body Behaviors in Humanoid Systems
Luis Sentis, Synthesis and Control of Whole-Body Behaviors in Humanoid Systems, Ph.D. Thesis, Stanford University, July 2007..

Air Muscle Controller Design in the Distributed Macro-Mini (DM2) Actuation Approach
Irene Sardellitti, Jaheung. Park, Dongjun Shin and Oussama Khatib
Proc.of IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, 2007

Touch Based Perception for Object Manipulation
Anna Petrovskaya, Oussama Khatib, Sebastian Thrun, and Andrew Y. Ng.
Robotics Science and Systems Conference (RSS), Robot Manipulation Workshop, Atlanta, GA, 2007.

Probabilistic Estimation of Whole Body Contacts for Multi-Contact Robot Control.
Anna Petrovskaya, Jaeheung Park, and Oussama Khatib
Proceedings of the IEEE International Conference in Robotics and Automation, Rome, Italy, April 2007.

A Hybrid Actuation Approach for Haptic Interfaces
Francois Conti and Oussama Khatib
IEEE WorldHaptics 2007, Tsukuba, Japan

Probabilistic Mobile Manipulation in Dynamic Environments, with Application to Opening Doors.
Anna Petrovskaya, Andrew Y. Ng.
IJCAI07, Hydrabad, India, January 2007

2006

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

Task-Level Approaches for the Control of Constrained Multibody Systems.
De Sapio, V., Khatib, O., Delp, S.,
Multibody System Dynamics, vol. 16, no. 1, pp. 73-102, August 2006.

A new actuation approach for haptic interface design.
Francois Conti and Oussama Khatib.
IISER 2006, Rio de Janeiro, Brazil, June 2006

Bayesian Estimation for Autonomous Object Manipulation Based on Tactile Sensors.
Anna Petrovskaya, Oussama Khatib, Sebastian Thrun, Andrew Y. Ng.
ICRA06, Orlando, FL, May 2006

The Control of Kinematically Constrained Shoulder Complexes: Physiological and Humanoid
De Sapio V., Holzbaur, K.S., Khatib, O.,
In Proceedings of the 2006 IEEE International Conference on Robotics and Automation. May 2006.

A Whole-Body Control Framework for Humanoids Operating in Human Environments.
Luis Sentis and Oussama Khatib
Proceedings of the IEEE Internactional Conference in Robotics and Automation, Orlando, USA, May 2006.

Robust Haptic Teleoperati on of a Mobile Manipulat ion Pl atform.
Jaeheung Park, and Oussama Khatib
Experimental Robotics IX, Ang M. and Khatib, O.(Eds.), STAR Springer Tracts in Advanced Robotics Vol.21 (2006) 543-554.

Control Strategies for Robots in Contact
Jaeheung Park
Ph.D. Thesis at Stanford University, March 22th, 2006

2005

Synthesis of whole-body behaviors through hierarchical control of behavioral primitives
Luis Sentis, Oussama Khatib
International Journal of Humanoid Robotics, 2005

Simulating the Task-level Control of Human Motion: A Methodology and Framework for Implementation.
De Sapio, V., Warren, J., Khatib, O., Delp, S.,
The Visual Computer, vol. 21, no. 5, pp. 289–302, June 2005.

Spanning Large Workspaces Using Small Haptic Devices
F. Conti and O. Khatib
IEEE WorldHaptics 2005, Pisa, Italy

CHAI 3D - An Open-Source Library for the Rapid Development of Haptic Scenes.
F. Conti, F. Barbagli, D. Morris, C. Sewell.
IEEE World Haptics, Pisa, Italy, March 2005.

Control of Free-Floating Humanoid Robots Through Task Prioritization
Luis Sentis, Oussama Khatib
Proceedings of the IEEE International Conference in Robotics and Automation, Barcelona, Spain, April 2005

The dynamic capability equations: A new tool for analyzing manipulator dynamic performance
Bowling, A, Khatib, O.
IEEE Transactions on Robotics, in press. Volume 21, Issue 1, Feb. 2005 Page(s):115 - 123

Operational Space Control of Multibody Systems with Explicit Holonomic Constraints
De Sapio, V, Khatib, O.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation,

Robust Haptic Teleoperation of a Mobile Manipulation Platform
Park, J, Khatib, O.
Experimental Robotics IX, Ang, M. and Khatib, O. (Eds.), Star, Springer Tracts in Advanced Robotics, 2005,

2004

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

Haptic Rendering: Introductory Concepts
K. Salibury, F. Conti and F. Barbagli
IEEE CG&A, March/April 2004

Playing it safe [human-friendly robots]
Zinn, M., Khatib, O., Roth, B., Salisbury, J.K.
Robotics & Automation Magazine, IEEE Volume 11, Issue 2, June 2004 Page(s):12 - 21

Towards a Human-centered Intrinsically-Safe Robotic Manipulator
Zinn, M., Khatib, O., Roth, B., Salisbury, J.K.
IEEE Robotics and Automation Magazine, 11(2) 12-21, June 2004.

A New Actuation Approach for Human-friendly Robot Design
Zinn, M., Khatib, O., Roth, B., Salisbury, J.K.
International Journal of Robotics Research, 23(4/5) 379-398, April-May 2004.

A New Actuation Approach for Human-friendly Robot Design
Zinn, M., Khatib, O., Roth, B.
Proc. IEEE International Conference on Robotics and Automation, New Orleans, April 26-May 1, 2004, pp. 249-254. Vol.1

Multi-contact compliant motion control for robotic manipulators
Park, Jaeheung, Cortesiio, Rui, Khatib, O.
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on Volume 5, April 26-May 1, 2004 Page(s):4789 - 4794

Robots for the Human and Interactive Simulations
Khatib, O., Brock, O., Chang, K., Ruspini, D., Sentis, L., Viji, S.
Proc. 10th IFToMM World Congress on the Theory of Machines and Mechanisms,, Tianjin, China, April 2004, pp. 1572-1576.

Whole Body Dynamic Behavior and Control of Human-Like Robots
Oussama Khatib, Luis Sentis, Jae-Heung Park, James Warren
International Journal of Humanoid Robotics, 1(1): 29-43, March 2004

Human-Centered Robotics and Interactive Haptic Simulation
Khatib, O., Brock, O., Chang, K., Ruspini, D., Sentis, L., Viji, S.
International Journal of Robotics Research, Vol 23, No. 2, Feb. 2004, pp.167-178.

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

2003

The Dynamic Loading Criteria in Actuator Selection for Desired Dynamic Performance.
Bowling, O, Khatib, O.
Advanced Robotics, vol. 17, no. 7, pp. 641-656, Nov. 2003.

Human-centered robotics and interactive simulation
Khatib, O
Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on Volume 2, 8-13 Oct. 2003

Non-Redundant Robotic Manipulator Acceleration Capability and the Actuation Efficiency Measure
Bowling, A, Khatib, O.
Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems -- IROS2003, Las Vegas, 27-31 Oct. 2003 Page(s):3325 - 3330 vol.3.

Real-Time Adaptive Control for Haptic Manipulation with Active Observers
Cortesao, R., Park, J., Khatib, O.
Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems -- IROS2003, Las Vegas, Oct. 27-31, 2003 Page(s):2938 - 2943

Interactive rendering of deformable objects based on a filling sphere modeling approach
Conti, F., Khatib, O., Baur, C.
Proc. IEEE International Conference on Robotics and Automation, Taipei, 14-19 Sept. 2003 Page(s):3716 - 3721 vol.3

Teleoperation for Compliant Motion Task
Park, J., Cortesao, R., Khatib, O.
Proc. International Conference on Advanced Robotics, Coimbra, Portugal, July 2003.

Actuations Method for Human-Centered Robotics and Associated Control Challenges
Zinn, M., Khatib, O., Roth, B., Salisbury, J.K.
Control Problems in Robotics, A. Bicchi, H. Christensen, and D. Prattichizzo (Eds.), STAR, Springer 2003, pp.105-120.

2002

Actuation Methods For Human-Centered Robotics and Associated Control Challenges
Zinn, M., Khatib, O., Roth, B., Salisbury, J.K.
Second Joint CSS/RAS International Workshop on Control Problems in Robotics and Automation, Las Vegas, NV, December 2002

Elastic Strips: A Framework for Motion Generation in Human Environments
Brock, O, Khatib, O.
International Journal of Robotics Research, Vol. 21 No. 12, Dec 2002, pp. 1031-1052

Human-centered Robotics and Haptic Interaction: From Assistance to Surgery, the Emerging Applications
Khatib, O.
Proc. Third International Workshop on Robot Motion and Control, RoMoCo'02, Bukowy, Poland, November 2002, pp. 137-139.

Towards A Human-Centered Intrinsically-Safe Robotic Manipulator
Zinn, M., Khatib, O., Roth, B., Salisbury, J.K.
Second IARP / IEEE/RAS Joint Workshop on Technical Challenges for Dependable Robots in Human Environments, LAS-CNRS, Toulouse, France, October 2002

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

Actuator Selection for Desired Dynamic Performance
Bowling, A, Khatib, O.
Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems -- IROS2002, Lausanne, Switzerland, 30 Sept.-5 Oct. 2002 Page(s):1966 - 1973 vol.2

Reactive Collision Avoidance for Navigation with Dynamic Constraints
Minguez, J., Montano, L., Khatib, O.
Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems -- IROS2002, Lausanne, Switzerland, Volume 1, 30 Sept.-5 Oct. 2002 Page(s):588 - 594 vol.1

A New Actuation Approach for Human Friendly Robot Design
Zinn, M., Khatib, O., Roth, B., Salisbury, J.K.
Proceedings of International Symposium on Experimental Robotics, Santa Angelo d'Ischia, Italy, July 2002

Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation
Oetomo, D., H, M. Ang Jr., Jamisola, R, Khatib, O.
Ro.Man.Sy 14, Proc. CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Udine, July 2002, pp. 189-200.

Task-Consistent Obstacle Avoidance and Motion Behavior for Mobile Manipulation
Brock, O., Khatib, O, Viji, S.
Proc. IEEE International Conference on Robotics and Automation 2002, Washingtion, USA, 11-15 May 2002 Page(s):388 - 393 vol.1

The Operational Space Formulation implementation to aircraft canopy polishing using a mobile manipulator
Jamisola, R., Ang, H, M., Jr., Oetomo, D., Khatib, O., Tao Ming Lim, Ser Yong Lim
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on Volume 1, 11-15 May 2002 Page(s):400 - 405 vol.1

Robotics and Interactive Simulation
Khatib, O., Brock, O., Chang, K., Conti, F., Ruspini, D., Sentis, L.
Communications of the ACM, vol. 45, no. 3, pp. 46-51, March 2002.

A New Actuation Approach for Human Friendly Robot Design
Zinn, M., Khatib, O., Roth, B., Salisbury, J.K.
Experimental Robotics VIII, B. Siciliano and Paolo Dario (Eds.) Star, Springer Tracts in Advanced Robotics, 2002, pp. 113-122.

Efficient algorithms for robots with human-like structures and interactive haptic simulation
Khatib, O., Brock, O., Chang, K., Conti, F., Ruspini, D., Sentis, L.
Advances in Robot Kinematics:Theory and Applications, Eds, Lenarcic, J. and Thomas, F., Kluwer Academic Publishers 2002, pp. 89-98.

Human-Centered Robotics and Interactive Haptic Simulation.
Khatib, O., Brock, O., Chang, K., Ruspini, D., Sentis, L, Viji, S.
Robotics Research, The Tenth Symposium, R. A. Jarvis and A. Zelinsky (Eds.) Star, Springer Tracts in Advanced Robotics, 2002, pp. 239-253.

Potential Fields and Neural Networks
Liu, J, Khatib, O.
The Handbook of Brain, Theory and Neural Networks, Michael A. Arbib (Ed.), 2nd Edition, MIT Press 2002.

Task-Consistent Obstacle Avoidance and Motion Behavior for Mobile Manipulation
Oliver Brock, Oussama Khatib, Sriram Viji
Submitted to IEEE International Conference on Robotics and Automation 2002

2001

Haptic Display for Human Interaction with Virtual Dynamic Environments
Ruspini, D, Khatib, O.
Journal of Robotics Systems, special issue on Biorobotics and Humanoid Robotics, vol. 18, issue 12, pp. 769-783, December 2001.

Fuzzy logic control of a robot manipulator based on visual servoing
Kim, S, C., Seo, H, W., Han, H, S., Khatib, O.
Industrial Electronics, 2001. Proceedings. ISIE 2001. IEEE International Symposium on, Volume 3, 12-16 June 2001 Page(s):1597 - 1602 vol.3

Haptically Augmented Teleoperation
Turro, N., Khatib, O., Coste, E.-Maniere.
Proc. IEEE International Conference on Robotics and Automation, Seoul, Korea, May 2001, pp.366-392.

Efficient recursive algorithm for the operational space inertia matrix of branching mechanisms
Chang, K., Khatib, O.
Advanced Robotics, v. 14(8) pp. 703-715 2001.

Human-Centered Robotics and Interactive Haptic Simulation
Khatib, O., Brock, O., Chang, K.C., Ruspini, D., Sentis, L., Viji, S.
Human-Centered Robotics and Interactive Haptic Simulation. Submitted to ISRR International Symposium of Robotics Research 2001

Robots in Human Environments
Khatib, O., Yokoi, K., Brock, O., Chang, K., Casal, A.
Archives of Control Sciences, special issue on Recent Developments in Robotics, Part I, vol. 11 (XLVII), no. 3/4, pp. 123-138, 2001.

Simulation with Contact for Haptic Interaction
Ruspini, D, Khatib, O.
Touch in Virtual Environments, McLaughlin, M., Hespanha, J.P. and Sukhatme, G.S., Eds., Prentice-Hall, 2001 pp. 32-46.

2000

Haptically Augmented Teleoperation
Turro, N, Khatib, O.
Preprints, 7th International Symposium on Experimental Robotics (ISER2000), Hawaii, December 2000, pp.1-10.

Robots in Human Environments
Khatib, O.
Proc. International Conference on Control, Automation, Robotics, and Vision, ICRACV2000, December 2000, Singapore, pp. 454-457.

A Framework for Multi-Contact Multi-Body Dynamic Simulation and Haptic Display"
Ruspini, D, Khatib, O.
Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems -- IROS2000, Takamatsu, Japan, October 2000, pp. 1322-1327.

A Powered-Caster Holonomic Robotic Vehicle for Mobile Manipulation Tasks
Holmberg, R, Khatib, O.
Ro.Man.Sy 13, Proc. CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Zakopane, Poland July 2000, pp. 157-167.

A Framework for Multi-Contact Multi-Body Dynamic Simulation and Haptic Display
Ruspini, D, Khatib, O.
Proc. ARK 7, International Symposium on Advances in Robot Kinematics, Piran, Slovenia, June 2000, pp. 175-186.

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

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

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

Robot Acceleration Capability: The Actuation Efficiency Measure
Bowling, A, Khatib, O.
Proc. IEEE International Conference on Robotics and Automation, San Francisco, April 2000, pp. 3971-3976

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

Development and Control of a Holonomic Mobile Robot for Mobile Manipulation Tasks
Holmberg, R, Khatib. O.
International Journal of Robotics Research, vol. 19, no. 11, 2000, pp. 1066-1074

Integrated Planning and Execution: Elastic Strips
Brock, O, Khatib, O.
Proc. The World Automation Congress, Maui, USA, 2000.

Real-Time Replanning in High-Dimensional Configuration Spaces Using Sets of Homotopic Paths
Oliver Brock, Oussama Khatib
Proceedings of the 2000 IEEE International Conference on Robotics and Automation

Task-Consistent Obstacle Avoidance for Mobile Manipulation
Oliver Brock, Oussama Khatib, Sriram Viji
Submitted to Video Proceedings of the 2000 International Conference on Robotics and Automation

1999

Generation of Robot Motion: Integrating Planning and Execution.
Oliver Brock
Ph.D. Thesis. Stanford University. November 1999

Dynamics Identification and Control of an Industrial Robot.
Jamisola, R., Ang, M. Jr, T-Lim, M., Khatib, O., S.-Y., Lim,
Proc. Ninth International Conference on Advance Robotics, ICRA'99, Tokyo, Japan, Oct 25-27, 1999, pp. 323-328.

Development of a Holonomic Mobile Robot for Mobile Manipulation Tasks
Holmberg, R, Khatib, O.
Proc. International Conference on Field and Service Robotics, FSR'99, Pittsburgh, August 1999, pp. 268-273.

Real-Time Obstacle Avoidance and Motion Coordination in a Multi-Robot Workcell
Oliver Brock, Oussama Khatib
Proceedings of the 1999 International Symposium on Assembly and Task Planning. July 1999

Real-Time Obstacle Avoidance and Motion Coordination in a Multi-Robot Workcell
Brock, O, Khatib, O.
Proc. International Symposium on Assembly and Task Planning, Porto, Portugal, July 1999. Page(s):274 - 279

Robots in Human Environments: Basic Autonomous Capabilities
Khatib Oussama, Kazu Yokoi, Oliver Brock, Kyong-Sok Chang, Arancha Casal
International Journal of Robotics Research. July 1999. vol.18, no.7, p. 684-696.

Haptics for Virtual Prototyping
Ruspini, D, Khatib, O.
Proc. 9th IFToMM World Congress on the Theory of Machines and Mechanisms,, Oulu, Finland, June 1999. vol. 3, pp. 924-929.

Robots in Human Environments
Khatib, O., Yokoi, K., Brock, O., Chang, K., Casal, A.
Proc. First Workshop on Robot Motion and Control (RoMoCo'99), Kiekrz, Poland, June 1999, pp. 213-221.

Robots in Human Environments
Khatib Oussama, Kazu Yokoi, Oliver Brock, Kyong-Sok Chang, Arancha Casal
Proceedings of the First Workshop on Robot Motion and Control. June 1999. p. 213-221.

A general Contact Model for Dynamically-Decoupled Force/Motion Control
Featherstone, R., Sonck, S., Khatib, O.
Proc. IEEE International Conference on Robotics and Automation, Detroit, May 1999, pp 3281-3286.

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

ProVAR Assistive Robot System Architecture
Van der Loos, H.F.M., Wagner, J.J., Smaby, N., Chang, K., Madrigal, O., Leifer, L.J., Khatib, O.
Proc. IEEE International Conference on Robotics and Automation, Detroit, May 1999, pp. 741-746.

The Stanford Robotics Platforms
Khatib, O.
Proc. First Asian Symposium on Industrial Automation and Robotics, ASIAR'99, Bangkok, May 1999, pp. 1-4.

A Portable Programming Framework
Coste, E., Maniere, Turro, N., Khatib, O.
Preprints, 6th International Symposium on Experimental Robotics (ISER'99), Sydney, March 1999, pp. 334-344.

Deformation of Virtual Objects, the filling sphere approach
Conti F.
Rapport de Diplome, Ecole Polytechnique Federale de Lausanne, Switzerland - March 1999

Elastic Strips: A Framework for Integrated Planning and Execution
Brock, O, Khatib, O.
Preprints, 6th International Symposium on Experimental Robotics (ISER'99), Sydney, March 1999, pp. 245-254.

Collision/Contact Models for Dynamic Simulation and Haptic Interaction
Ruspini, D, Khatib, O.
Proc. ISRR'99, the Ninth International Symposium of Robotics Research, Snowbird, Utah, 1999 Springer, pp. 185-194.

Efficient Algorithm for Extended Operational Space Inertia Matrix
Chang, K., Khatib, O.
Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems -- IROS'99, Kyongju, Korea, 1999, pp. 350-355.

Elastic Strips: A Framework for Integrated Planning and Execution
Oliver Brock, Oussama Khatib
Proceedings of the 1999 International Symposium on Experimental Robotics. Preprints, pages 245-54

Haptics for Virtual Prototyping
Ruspini, D, Khatib, O.
Recent Advances in Mechatronics, O. Kaynak, S. Tosunoglu, M. Ang, Jr, Eds., Springer 1999, pp. 294-303.

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

Practical connection between potential fields and neural networks
Liu, J, Khatib, O.
Proceedings of the Workshop on Intelligent Manipulation for Manufacturing Automation, Hong Kong, 1999.

Robots in Human Environment
Khatib, O., Yokoi, K., Brock, O., Chang, K., Casal, A.
Proc. Third International Workshop on Robot Motion and Control, RoMoCo'02, Poznan, Poland, 1999, pp. 213-221.

Robots in Human Environments: Basic Autonomous Capabilities
Khatib, O., Yokoi, K., Brock, O., Chang, K., Casal, A.
International Journal of Robotics Research, vol. 18, no. 7, 1999, pp. 684-696.

1998

Hardware-software run-time systems and robotics: a case study
Mooney, J, V., Ruspini, D., Khatib, O., De Micheli, G.
Euromicro Conference, 1998. Proceedings. 24th, Volume 1, 25-27 Aug. 1998 Page(s):162 - 167 vol.1

Modular Redundant Manipulator Design for Dynamic Performance
Bowling, A, Khatib, O.
Ro.Man.Sy 12, Proc. CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Paris, July 1998. pp. 297-307.

Dynamic Models for Haptic Rendering Systems
Diego Ruspini, Oussama Khatib
Advances in Robot Kinematics: ARK'98, June 1998, Strobl/Salzburg, Austria, pp523-532

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

Mobile Manipulation: Collision-Free Path Modification and Motion Coordination.
Brock, O, Khatib, O.
Proceedings of the 2nd International Conference on Computational Engineering in Systems Applications, Hammamet, Tunisia, April 1998, vol 4, pp. 839-845.

Cooperative Tasks in Mobile Manipulation Systems.
Khatib, O., Yokoi, K., Casal, A.
Preprints of the IFAC Workshop on Intelligent Components for Vehicles, ICV'98, Ed. A. Ollero, Seville, Spain, March 1998, pp. 279-284.

A Virtual Reality and Force Feedback Based Endoscopic Surgery Simulator
Baur C., Conti F., Guzzoni D.
MMVR 1998 Art, Science, Technology. Healthcare Revolution, Strendney. January 28-31, 1998

Elastic Strip: Real-Time Path Modification for Mobile Manipulation
Brock, O, Khatib, O.
Robotics Research, The Eighth International Symposium, Y. Shirai and S. Hirose, eds. Springer 1998, pp. 5-13.

Elastic Strips: Real-Time Path Modification for Mobile Manipulation
Oliver Brock, Oussama Khatib
In Robotics Research, pages 5-13, Springer Verlag, 1998

Executing Motion Plans for Robots with Many Degrees of Freedom in Dynamic Environments
Oliver Brock, Oussama Khatib
Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Volume 1, pages 1-6, 1998

Haptics for Multi-Scale Virtual Prototyping
Ruspini, D, Khatib, O.
Proc. 2nd Int. Workshop on Micro Robotic and Systems, Beijing, China, 1998, pp. 172-179.

Mobile Manipulator System
Khatib, O.
Autonomous Robotic Systems, A. T. de Almeida and O. Khatib, eds., Springer-Verlag, 1998, pp. 141-148.

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

The Motion Isotropy Hypersurface: A characterization of Acceleration
Bowling, A, Khatib, O.
Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems -- IROS'98, Victoria, B.C., Canada, 1998, pp. 965-971.

1997

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

Adding Motion to Constraint Based Haptic Rendering Systems: Issues & Solutions
Ruspini, Diego
Second PHANToM User's Group Workshop, October 19-22, 1997, Dedham, MA. link PUG'97

Elastic Strips: Real-Time Path Modification for Mobile Manipulation
Brock, O, Khatib, O.
Preprints of ISRR'97, the Eighth International Symposium of Robotics Research, Hayama, Japan, October 1997, pp. 117-122.

Haptic Interaction in Virtual Environments
Diego C. Ruspini, Krasimir Kolarov, Oussama Khatib
IEEE/RSJ International Conference on Intelligent Robots and Systems: IROS'97, September 1997, Genoble, France

Haptic Interaction in Virtual Environments
Ruspini, D., Kolarov, K., Khatib, O.
Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, IROS'97, Grenoble, France Sep 1997., pp. 128--133.

The Haptic Display of Complex Graphical Environments
Ruspini, Diego, Krasimir Kolarov, Oussama Khatib
SIGGRAPH 97 Proceedings, (August 1997), pp. 345-352

Robot learning and planning based on discrete-event systems models
Liu, J., Khatib, O., Tang, Y, Y.
Proceedings of Workshop on Intelligent Robotics: From the Structured to Less Structured Environments, Hong Kong, July 1997, pp. 57-62.

A General Contact Model for Dynamically-Decoupled Force/Motion Control
Featherstone, R., Sonck, S., Khatib, O.
Preprints of ISER'97, the Fifth International Symposium on Experimental Robotics, Barcelona, Catalonia, June 1997, pp. 84-95.

Mobile Robotic Manipulation
Khatib, O.
Proc. ICI\&C'97, Int. Conf. Informatics and Control, St. Petersburg, Russia, June 1997, pp. 33-39.

Modeling and Learning Robot Manipulation Strategies
Liu, J., Y, Y. Tang, and Khatib, O.
Preprints of ISER'97, the Fifth International Symposium on Experimental Robotics, Barcelona, Catalonia, Spain, June 1997, pp. 579-592.

Design of Macro/Mini Manipulators for Optimal Dynamic Performance
Bowling, A, Khatib, O.
Proc. IEEE International Conference on Robotics and Automation, Albuquerque, Volume 1, 20-25 April 1997 Page(s):449 - 454 vol.1

Design of Non-Redundant Manipulators for Optimal Dynamic Performance
Bowling, A, Khatib, O.
Proc. ICAR'97, the Eighth International Conference on Advanced Robotics, Monterey, California, 1997, pp. 865-872.

Load-Independence of the Dynamically-Consistent Inverse of the Jacobian Matrix
Featherstone, R, Khatib, O.
International Journal of Robotics Research, vol. 16, no. 2, 1997, pp. 168--170.

Robot Planning and Control
Khatib, O., Quinlan, S., Williams, D.
Journal of Robotics and Autonomous Systems, vol. 21, 1997, pp. 249-261.

1996

Coordination and Decentralized Cooperation of Multiple Mobile Manipulators
Khatib, O., K. Yokoi, K. Chang, D. Ruspini, R. Holmberg, A. Casal
Journal of Robotic Systems v 13 n 11 Nov 1996. pp 755-764

Decentralized cooperation between multiple manipulators
Khatib, O., Yokoi, K., Chang, K., Ruspini, D., Holmberg, R., Casal, A.
Robot and Human Communication, 1996., 5th IEEE International Workshop on 11-14 Nov. 1996 Page(s):183 - 188

Graphical and Haptic Manipulation of 3D Objects
Ruspini, Diego, Krasimir Kolarov
First PHANToM User's Group Workshop, September 27-30, 1996, Dedham, MA. link PUG'96

Mobile Manipulator Systems
Khatib, O.
RoManSy 11, Proc. CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Udine, July 1996, pp. 3-10.

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

Manipulator Design for Dynamic Performance
Khatib, O, Bowling, A.
Proc. ARK 5, International Symposium on Advances in Robot Kinematics, Slovenia, June 1996, pp. 29-38.

Cooperative Tasks in Multiple Mobile Manipulation Systems
Khatib, O., Yokoi, K., Chang, K., Ruspini, D., Holmberg, R., Casal, A.
Proc. 6th International Symposium on Robotics and Manufacturing, (ISRAM'96), Montpellier, France, May 1996, pp. 345-350.

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

Design of Digital Adaptive Algorithm for Torque-Controlled Robotic Joints
Abdel, Y.-Magid and Khatib, O.
Proc. 6th Int. Conf. Mechanical Design and Production, MDP-6, January 1996, pp. 461-468.

Coordination and Decentralized Cooperation of Multiple Mobile Manipulators
Khatib, O., Yokoi, K., Chang, K., Ruspini, D., Holmberg, R., Casal, A.
Journal of Robotic Systems, vol. 13, 1996, pp. 755-64.

Decentralized Cooperation of Multiple Mobile Manipulators
Khatib, O., Yokoi, K., Chang, K., Ruspini, D., Holmberg, R., Casal, A.
Proc. of 5th IEEE Int. Workshop on Robot and Human Communication. Tsukuba, Japan, 1996

Force Strategies for Cooperative Tasks in Multiple Mobile Manipulation Systems
Khatib, O., Yokoi, K., Chang, K., Ruspini, D., Holmberg, R., Casal, A., Baader, A.
Robotics Research 7, The Seventh International Symposium, G. Giralt and G. Hirzinger, eds., Springer 1996, pp. 333-342,

The Impact of Redundancy on the Dynamic Performance of Robots
Khatib, O.
Journal of Laboratory Robotics and Automation, Vol. 8, 1996, pp.37-48.

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

Vehicle/Arm Coordination and Multiple Mobile Manipulator Decentralized Cooperation
Khatib, O., Yokoi, K., Chang, K., Ruspini, D., Holmberg, R., Casal, A.
Proc. of IEEE/RSJ Int. Conf. Intelligent Robots and Systems, IROS'96, Osaka, Japan, 1996, pp. 546-553.

1995

Force Strategies for Cooperative Tasks in Multiple Mobile Manipulation Systems
Khatib, O., K. Yokoi, K. Chang, D. Ruspini, R. Holmberg, A. Casal, A. Baader
Int. Symp. of Robotics Research, Munich, October 1995

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

Optimization of the Inertial and Acceleration Characteristics of Non-Redundant Manipulators
Khatib, O, Bowling, A.
Proc. 3rd Conference on Mechatronics and Robotics, Paderborn, Germany, October 1995, pp. 500-510.

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

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

Cooperative Manipulation in Mobile Robotic Systems
Khatib, O.
Proc. 9th IFToMM World Congress on the Theory of Machines and Mechanisms,, Milan, Italy August 1995. vol. 3, pp. 2343-2347.

Design and Development of High Performance Torque Controlled Joints
Vischer, D, Khatib, O.
IEEE Transactions on Robotics and Automation, vol. 11, no. 4, August 1995, pp. 537-544.

Manipulator Control at Kinematic Singularities: A dynamically consistent Strategy.
Chang, K, Khatib, O.
Proc. IEEE/RSJ Int. Conference on Intelligent Robots and Systems, Pittsburgh, August 1995, vol. 3, pp. 84-88.

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

An Operational Space Formulation for Free-Flying, Multi-Arm Space Robot
Russakow, J., Rock, S., Khatib, O.
Preprints 4th Int. Symposium on Experimental Robotics, Stanford, June-July 1995, pp. 278-283.

Improved Force Control for Conventional Arms Using Wrist-Based Torque Feedback
Williams, D, Khatib, O.
Preprints 4th Int. Symposium on Experimental Robotics, Stanford, June-July 1995, pp. 323-328.

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

Inertial Properties in Robotics Manipulation: An Object-Level Framework
Khatib, O.
International Journal of Robot ics Research, vol. 14, no. 1, February 1995. pp. 19-36.

Analysis of the Acceleration Characteristics of Manipulators.
Bowling, A, Khatib, O.
RoManSy 10, Proc. CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, A. Morecki, G. Bianchi and K. Jaworek eds., Springer-Verlag, 1995, pp. 59-64.

1994

Dynamic simulation of interactive robotic environment
Lee, U, P., Ruspini, C, D., Khatib, O.
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on 8-13 May 1994 Page(s):1147 - 1152 vol.2

A Framework for Task-Level Robotics Manipulation
Khatib, O.
Robotics Research 6, Proc. 7th Int. Symposium, T. Kanade and R. Paul, eds., IFRR: The International Foundation for Robotics Research, 1994, pp. 287-304.

Cooperative Mobile Robotic Manipulation
Khatib, O.
Proc. ROVPIA' 94 International Conference on Robotics, Vision and Parallel Processing for Industrial Automation, Ipoh, Perak, Malaysia, 1994, pp. 371-377.

Dynamically Consistent Strategy for Manipulator Control at Singularities.
Chang, K., Khatib, O.
Proc. ARK 4, International Symposium on Advances in Robot Kinematics, Ljubljana, Slovenia, 1994, pp.221-228.

Experiments in Multi-Grasp Manipulation.
Williams, D, Khatib, O.
Experimental Robotics 3, T. Yoshikawa, ed., Springer-Verlag Berlin Heidelberg, 1994, pp. 14-28.

Experiments with Dynamic Skills.
Arai, H, Khatib, O.
Proc. Japan-USA Symposium on Flexible Automation, Kobe, Japan, 1994, pp. 81-84.

Modeling and Control of Internal Force Dynamics in Multi-Grasp Manipulation.
Williams, D, Khatib, O.
Robotics and Manufacturing, Proc. ISRAM' 94 M. Jamshidl, C. Nauyen, R. Lumia, and J. Yuh eds., ASME Press Series, 1994,vol. 5, pp. 735-741.

Real-Time Motion Vision for Robot Control.
Woodfill, J., Zabih, R., Khatib, O.
Robotics for Challenging Environments, Proc. ASCE '94, L. Demsetz and P. Klarer, eds. ASCE, New York 1994, pp. 10-18.

Sensor-Based Robotic Manipulation
Khatib, O.
Proc. 2nd Japan-France Congress on Mechatronics, Takamatsu, Japan, 1994, pp. 193-198.

Towards Integrated Planning and Control.
Khatib, O.
Proc. 4th IFAC Symposium on Robot Control, SY.RO.CO.'94, Capri, Italy, 1994, pp. 351-360.

1993

The Virtual Linkage: A Model for Internal Forces in Multi-Grasp Manipulation
David Williams, Oussama Khatib
International Conference on Robotics and Automation, Atlanta, October 1993, v 3, p 1025-1030

A New Actuation System for High-Performance Torque-Controlled Manipulators
Holmberg, R., Dickert, S., Khatib, O.
RoManSy 9, Proc. CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, A. Morecki, G. Bianchi and K. Jaworek eds., Springer-Verlag Berlin Heidelberg, 1993. pp. 285-292.

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

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

Elastic Bands: Connecting Path Planning and Robot Control.
Quinlan, S, Khatib, O.
Proc. IEEE International Conference on Robotics and Automation, Atlanta, Georgia 1993, vol 2. pp. 802-807.

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

The Operational Space Framework
Khatib, O.
JSME International Journal, series C, vol. 36, 1993, pp. 277-287.

Towards Real-Time Execution of Motion Tasks
Quinlan, S, Khatib, O.
Experimental Robotics 2, R. Chatila and G. Hirzinger, eds., Springer-Verlag Berlin Heidelberg, 1993, pp. 241-254.

1992

A New Control Structure for Free-Flying Space Robots.
Russakow, J, Khatib, O.
International Symposium on Artificial Intelligence, Robotics andAutomation in Space, Toulouse, France, 1992, pp. 395-403.

A New Actuation System for High-Performance Torque-Controlled Manipulators
Holmberg, R, Dickert, S and Khatib O.
Ro. Man. Sy9 Udine, Italy 1992

Characterization of Internal Forces in Multi-Grasp Manipulation.
Williams, D, Khatib, O.
Proceedings of the Second International Symposium on Measurement and Control in Robotics (ISMCR '92), Tsukuba Science City, Japan, 1992 pp.731-738.

1991

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

Towards a New Generation of Force-Controlled Robot Manipulators
Khatib, O.
Proc. of ORIA'91 Workshop on Telerobotics in Hostile Environments, Marseille, France, 1991.

New Robot Mechanisms for New Robot Capabilities
Khatib, O, Roth, B.
Proc. of IEEE/RSJ Int. Workshop on Intelligent Robots and Systems -- IROS '91, Osaka, Japan, 1991, pp. 44-49.

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

1990

Design and Development of Torque-Controlled Joints
Vischer, D, Khatib, O.
Experimental Robotics 1, V. Hayward and O. Khatib, eds., Springer-Verlag Berlin Heidelberg, 1990, pp. 271-286.

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

Object Level Manipulation
Khatib, O.
Proc. IEEE International Workshop on Intelligent Motion Control, Istanbul, Turkey, 1990. pp.497-502.

Performance Evaluation of Force/Torque Feedback Control Methodologies
Vischer, D, Khatib, O.
Proc. RoManSy 8, CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Cracow, Poland, 1990, pp. 186-193.

Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
Khatib, O.
Autonomous Robot Vehicles, I. Cox and G. Wilfong, eds., Springer-Verlag Berlin Heidelberg, 1990, pp.389-404.

Reduced Effective Inertia in Macro-/Mini-Manipulator Systems
Khatib, O.
Robotics Research 5, Proc. 5th Int. Symposium, H. Miura and S. Arimoto, eds., Cambridge: MIT Press, 1990, pp. 279-284.

1989

Dynamic Control of Multi-Structure Robot Systems at the Manipulated Object Level
Khatib, O.
Current Advances in Mechanical Design and Production IV, Y. Kabil and M. Said, eds., Pergamon Press 1989, pp. 433-440.

Isotropic and Uniform Inertial and Acceleration Characteristics: Issues in the Design of Manipulators
Khatib, O, Agrawal, S.
Dynamics of Controlled Mechanical Systems, G. Schweitzer and M. Mansour, eds., Springer-Verlag Berlin Heidelberg 1989, pp. 259-270.

Joint Torque Sensory Feedback in the Control of a PUMA Manipulator
Pfeffer, L., Khatib, O., Hake, J.
IEEE transactions on Robotics and Automation, vol. 5, no. 4, 1989, pp. 418-425.

1988

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

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

The Augmented Object and Reduced Effective Inertia in Robot Systems
Khatib, O.
Proc. American Control Conference, Atlanta, Georgia, June 1988, vol. 3, pp. 2140-2147.

Inertial Characteristics and Dextrous Dynamic Coordination of Macro/Micro-Manipulator Systems
Khatib, O.
RoManSy 7, CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Cracow, Poland, 1988.

Object Localization with Multiple Sensors
Shekhar, S., Khatib, O., Shimojo, M.
International Journal of Robotic Research, vol. 7, no. 6, 1988, pp. 34-44.

Object Manipulation in a Multi-Effector Robot System
Khatib, O.
Robotics Research 4, Proc. 4th Int. Symposium, R. Bolles and B. Roth, eds., Cambridge: MIT Press, 1988, pp. 137-144.

Robust Control in Operational Space for Goal Positioned Manipulator Tasks
Slotine, J.J., Khatib, O., Ruth, D.
International Journal of Robotics and Automation, vol. 3, no. 1, 1988, pp. 28-34.

1987

Force Strategies in Real-Time Fine Motion Assembly
Shekhar, S, Khatib, O.
Proc. ASME Winter Annual Meeting, Boston, Massachusetts, December 1987, pp. 169-176.

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

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

A Unified Approach to Motion and Force Control of Robot Manipulators: The Operational Space Formulation
Khatib, O.
IEEE Journal on Robotics and Automation, vol. 3, no. 1, February 1987, pp. 43-53.

Optimization of Dynamics in Manipulator Design: The Operational Space Formulation
Khatib, O, Burdick, J.
International Journal of Robotics and Automation, vol. 2, no. 2, 1987, pp. 90-98.

Redundant Manipulators and Kinematic Singularities: The Operational Space Approach
Khatib, O.
RoManSy 6, Morecki, A., Binachi, G., and Kedzior, K., eds., Cambridge: MIT Press, 1987, pp. 131-138.

1986

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

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

Joint Torque Sensory Feedback in the Control of a PUMA Manipulator
Pfeffer, L., Khatib, O., Hake, J.
American Control Conference, Seattle, Washington, June 1986, vol. 2, pp. 818-824.

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

Sensor Fusion and Object Localization
Shekhar, S., Khatib, O., Shimojo, M.
Proc. IEEE International Conference on Robotics and Automation, San Francisco, California, April 1986, vol. 3, pp. 1623-1628.

The explicit dynamic model and inertial parameters of the PUMA 560 arm
Armstrong, B., Khatib, O., Burdick, J.
Robotics and Automation. Proceedings. 1986 IEEE International Conference on Volume 3, Apr 1986 Page(s):510 - 518

Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
Khatib, O.
International Journal of Robotic Research, vol. 5, no. 1, Spring 1986, pp. 90-98.

The Operational Space Formulation in the Analysis, Design, and Control of Manipulators
Khatib, O.
Robotics Research 3, Proc. 3rd Int. Symposium, O. Faugeras and G. Giralt, eds., Cambridge: MIT Press, 1986, pp. 261-270.

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

1985

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

The Operational Space Formulation in Robot Manipulator Control
Khatib, O.
Proc. of the 15th International Symposium on Industrial Robots, Tokyo, Japan, September 1985, vol. 1, pp. 165-172.

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

Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
Khatib, O.
IEEE International Conference on Robotics and Automation, St. Louis, Missouri, March 1985, pp. 500-505.

1984

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

1983

Dynamic Control of Manipulators in Operational Space
Khatib, O.
Proc. Sixth IFToMM Congress on the Theory of Machines and Mechanisms, New Delhi, India, December 1983. New York: Wiley, 1983, vol. 2, pp. 1128-1131.

1980

Commande Dynamique dans l'espace opérationnel des robots manipulateurs en présence d'obstacles
Khatib, O.
Thèse, Ecole Nationale Supérieure de l'aéronautique et de l'espace, 1989.

1978

Dynamic Control of Manipulators Operating in a Complex Environment
Khatib, O, F, J. Le Maitre.
Proc. RoManSy'78, 3rd CISM-IFToMM Symp. Theory and Practice of Robots and Manipulators, Udine, Italy, September 1978. Elsevier (1979), pp. 267-282.