Bio


Khatib's research is in autonomous robots, human-centered robotics, human-friendly robot design, dynamic simulations, and haptic interactions. His exploration in this research ranges from the autonomous ability of a robot to cooperate with a human to the haptic interaction of a user with an animated character, virtual prototype, or surgical instrument.

Academic Appointments


Professional Education


  • PhD, Sup-Aero, France (1980)

2013-14 Courses


Journal Articles


  • Circular Pulley vs. Variable Radius Pulley: Optimal Design Methodologies and Dynamic Characteristics Analysis. IEEE Transactions on Robotics, TRO 12-0331 (in print). Shin, D., J., Yeh, X., Khatib, O.
  • Special Issue on The Fifteenth International Symposium on Robotics Research, 2011 INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Chatila, R., Christensen, H., Khatib, O. 2012; 31 (11): 1217-1218
  • Special Issue on the Twelfth International Symposium on Experimental Robotics, 2010 INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Khatib, O., Kumar, V., Sukhatme, G. S. 2012; 31 (5): 571-572
  • Global Localization of Objects via Touch IEEE TRANSACTIONS ON ROBOTICS Petrovskaya, A., Khatib, O. 2011; 27 (3): 569-585
  • Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots IEEE TRANSACTIONS ON ROBOTICS Sentis, L., Park, J., Khatib, O. 2010; 26 (3): 483-501
  • Special Issue on The Eleventh International Symposium on Experimental Robotics INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Khatib, O., Kumar, V., Pappas, G. 2010; 29 (5): 483-484
  • The Robotics Community IEEE ROBOTICS & AUTOMATION MAGAZINE Khatib, O., Christensen, H. 2010; 17 (1): 11-12
  • Compliant Control of Multi-Contact and Center of Mass Behaviors in Humanoid Robots. IEEE Trans. on Robotics. Sentis, L., Park, J., Khatib, O. 2010; 26 (3): 483-501
  • Special Issue on the Tenth International Symposium on Experimental Robotics INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Khatib, O., Kumar, V., Rus, D. 2009; 28 (6): 683-684
  • A Unified Approach to Integrate Unilateral Constraints in the Stack of Tasks IEEE TRANSACTIONS ON ROBOTICS Mansard, N., Khatib, O., Kheddar, A. 2009; 25 (3): 670-685
  • Robotics-based synthesis of human motion JOURNAL OF PHYSIOLOGY-PARIS Khatib, O., Demircan, E., De Sapio, V., Sentis, L., Besier, T., Delp, S. 2009; 103 (3-5): 211-219

    Abstract

    The synthesis of human motion is a complex procedure that involves accurate reconstruction of movement sequences, modeling of musculoskeletal kinematics, dynamics and actuation, and characterization of reliable performance criteria. Many of these processes have much in common with the problems found in robotics research. Task-based methods used in robotics may be leveraged to provide novel musculoskeletal modeling methods and physiologically accurate performance predictions. In this paper, we present (i) a new method for the real-time reconstruction of human motion trajectories using direct marker tracking, (ii) a task-driven muscular effort minimization criterion and (iii) new human performance metrics for dynamic characterization of athletic skills. Dynamic motion reconstruction is achieved through the control of a simulated human model to follow the captured marker trajectories in real-time. The operational space control and real-time simulation provide human dynamics at any configuration of the performance. A new criteria of muscular effort minimization has been introduced to analyze human static postures. Extensive motion capture experiments were conducted to validate the new minimization criterion. Finally, new human performance metrics were introduced to study in details an athletic skill. These metrics include the effort expenditure and the feasible set of operational space accelerations during the performance of the skill. The dynamic characterization takes into account skeletal kinematics as well as muscle routing kinematics and force generating capacities. The developments draw upon an advanced musculoskeletal modeling platform and a task-oriented framework for the effective integration of biomechanics and robotics methods.

    View details for DOI 10.1016/j.jphysparis.2009.08.004

    View details for Web of Science ID 000271395900009

    View details for PubMedID 19665552

  • Robot multiple contact control ROBOTICA Park, J., Khatib, O. 2008; 26: 667-677
  • Dynamic performance and modular design of redundant macro-/minimanipulators JOURNAL OF MECHANICAL DESIGN Bowling, A. P., Khatib, O. 2008; 130 (9)

    View details for DOI 10.1115/1.2936892

    View details for Web of Science ID 000258583800007

  • Least action principles and their application to constrained and task-level problems in robotics and biomechanics MULTIBODY SYSTEM DYNAMICS De Sapio, V., Khatib, O., Delp, S. 2008; 19 (3): 303-322
  • Dynamic performance in the modular design of redundant macro/mini manipulators. ASME Journal of Mechanical Design Bowling, A., Khatib, O. 2008; 130 (9): 092301(1-11)
  • Special issue on the first IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2006) INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Dario, P., Meldrum, D., Khatib, O. 2007; 26 (11--12): 1157-1158
  • Special Issue on BioRobotics. I. J. Robotic Res. Dario, P., Meldrum, D., R., Khatib, O. 2007; 11-12 (26)
  • Real-time adaptive control for haptic telemanipulation with Kalman active observers IEEE TRANSACTIONS ON ROBOTICS Cortesao, R., Park, J., Khatib, O. 2006; 22 (5): 987-999
  • Task-level approaches for the control of constrained multibody systems MULTIBODY SYSTEM DYNAMICS De Sapio, V., Khatib, O., Delp, S. 2006; 16 (1): 73-102
  • Real-Time Adaptive Control for Haptic Tele-Manipulation with Kalman Active Observers. IEEE Transactions on Robotics Cortesao, R., Park, J., Khatib, O. 2006; 22 (5): 987-999
  • The actuation efficiency, a measure of acceleration capability for nonredundant robotic manipulators JOURNAL OF ROBOTIC SYSTEMS Bowling, A. P., Khatib, O. 2005; 22 (12): 759-766

    View details for DOI 10.1002/rob.20097

    View details for Web of Science ID 000234350700004

  • Editorial - Special Issue on the 11th International Symposium on Robotics Research INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Chatila, R., DARIO, P., Khatib, O. 2005; 24 (9): 689-689
  • Simulating the task-level control of human motion: a methodology and framework for implementation VISUAL COMPUTER De Sapio, V., Warren, J., Khatib, O., Delp, S. 2005; 21 (5): 289-302
  • The dynamic capability equations: A new tool for analyzing robotic manipulator performance IEEE TRANSACTIONS ON ROBOTICS Bowling, A., Khatib, O. 2005; 21 (1): 115-123
  • Special Issue on the 11th International Symposium on Robotics Research. I. J. Robotic Res. Chatila, R., Dario, P., Khatib, O. 2005; 9 (24)
  • Compliant motion using a mobile manipulator: an operational space formulation approach to aircraft canopy polishing ADVANCED ROBOTICS Jamisola, R. S., Oetomo, D. N., Ang, M. H., Khatib, O., Lim, T. M., Lim, S. Y. 2005; 19 (5): 613-634
  • The dynamic capability equations: A new tool for analyzing manipulator dynamic performance IEEE Transactions on Robotics Bowling, A., Khatib, O. 2005; 1 (21): 115 - 123
  • Synthesis of whole-body behaviors through hierarchical control of behavioral primitives International Journal of Humanoid Robotics Sentis, L., Khatib, O. 2005; 4 (2): 505-518
  • Playing it safe IEEE ROBOTICS & AUTOMATION MAGAZINE Zinn, M., Khatib, O., Roth, B., Salisbury, J. K. 2004; 11 (2): 12-21
  • Whole Body Dynamic Behavior and Control of Human-Like Robots International Journal of Humanoid Robotics Khatib, O., Sentis, L., Park, J., Warren, J. 2004; 1 (1): 29-44
  • A New Actuation Approach for Humanfriendly Robot Design International Journal of Robotics Research Zinn, M., Khatib, O., Roth, B., Salisbury, K. 2004; 1/5 (23): 379-398
  • Towards a Human-centered Intrinsically-Safe Robotic Manipulator IEEE Robotics and Automation Magazine Zinn, M., Khatib, O., Roth, B., Salisbury, K. 2004; 2 (11): 12-21
  • Dynamic loading criteria in actuator selection for desired dynamic performance ADVANCED ROBOTICS Bowling, A., Khatib, O. 2003; 17 (7): 641-656
  • Elastic strips: A framework for motion generation in human environments INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Brock, O., Khatib, O. 2002; 21 (12): 1031-1052
  • Robotics and interactive simulation COMMUNICATIONS OF THE ACM Khatib, O., Brock, O., Chang, K. S., Conti, F., Ruspini, D., Sentis, L. 2002; 45 (3): 46-51
  • Haptic display for human interaction with virtual dynamic environments JOURNAL OF ROBOTIC SYSTEMS Ruspini, D., Khatib, O. 2001; 18 (12): 769-783
  • Robots in Human Environments Archives of Control Sciences, special issue on Recent Developments in Robotics, Part I Khatib, O., Yokoi, K., Brock, O., Chang, K., Casal, A. 2001; 11 (XLVII) (3/4): 123-138
  • Efficient recursive algorithm for the operational space inertia matrix of branching mechanisms ADVANCED ROBOTICS Chang, K. S., Khatib, O. 2001; 14 (8): 703-715
  • Development and control of a holonomic mobile robot for mobile manipulation tasks INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Holmberg, R., Khatib, O. 2000; 19 (11): 1066-1074
  • Robots in human environments: Basic autonomous capabilities INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Khatib, O., Yokoi, K., Brock, O., Chang, K., Casal, A. 1999; 18 (7): 684-696
  • Mobile manipulation: The robotic assistant ROBOTICS AND AUTONOMOUS SYSTEMS Khatib, O. 1999; 26 (2-3): 175-183
  • Robots in Human Environments:Basic Autonomous Capabilities International Journal of Robotics Research Khatib, O., Yokoi, K., Brock, O., Chang, K., Casal, A. 1999; 18 (7): 684-696
  • Robot planning and control ROBOTICS AND AUTONOMOUS SYSTEMS Khatib, O., Quinlan, S., Williams, D. 1997; 21 (3): 249-261
  • Load independence of the dynamically consistent inverse of the Jacobian matrix INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Featherstone, R., Khatib, O. 1997; 16 (2): 168-170
  • Load-Independence of the Dynamically-Consistent Inverse of the Jacobian Matrix International Journal of Robotics Research Featherstone, R., Khatib, O. 1997; 16 (2): 168–170
  • The impact of redundancy on the dynamic performance of robots LABORATORY ROBOTICS AND AUTOMATION Khatib, O. 1996; 8 (1): 37-48
  • DESIGN AND DEVELOPMENT OF HIGH-PERFORMANCE TORQUE-CONTROLLED JOINTS IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION VISCHER, D., Khatib, O. 1995; 11 (4): 537-544
  • INERTIAL PROPERTIES IN ROBOTIC MANIPULATION - AN OBJECT-LEVEL FRAMEWORK INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Khatib, O. 1995; 14 (1): 19-36
  • Design and Development of High Performance Torque Controlled Joints IEEE Transactions on Robotics and Automation Vischer, D., Khatib, O. 1995; 11 (4): 537-544
  • Inertial Properties in Robotics Manipulation: An Object-Level Framework International Journal of Robotics Research Khatib, O. 1995; 14 (1): 19-36
  • THE OPERATIONAL SPACE FRAMEWORK JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING Khatib, O. 1993; 36 (3): 277-287
  • Inertial Properties in Robotics Manipulation Department of Computer Science Khatib, O. 1992
  • JOINT TORQUE SENSORY FEEDBACK IN THE CONTROL OF A PUMA MANIPULATOR IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION PFEFFER, L. E., Khatib, O., Hake, J. 1989; 5 (4): 418-425
  • OBJECT LOCALIZATION WITH MULTIPLE SENSORS INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Shekhar, S., Khatib, O., Shimojo, M. 1988; 7 (6): 34-44
  • Robust Operational Space Control for Goal Positioned Manipulator Tasks International Journal of Robotics and Automation Slotine, J., J., Khatib, O., Ruth, D. 1988; 3 (1): 28-34
  • A UNIFIED APPROACH FOR MOTION AND FORCE CONTROL OF ROBOT MANIPULATORS - THE OPERATIONAL SPACE FORMULATION IEEE JOURNAL OF ROBOTICS AND AUTOMATION Khatib, O. 1987; 3 (1): 43-53
  • A Unified Approach to Motion and Force Control of Robot Manipulators: The Operational Space Formulation IEEE Journal on Robotics and Automation Khatib, O. 1987; 3 (1): 43-53
  • Optimization of Dynamics in Manipulator Design: The Operational Space Formulation International Journal of Robotics and Automation Khatib, O., Burdick, J. 1987; 2 (2): 90-98
  • REAL-TIME OBSTACLE AVOIDANCE FOR MANIPULATORS AND MOBILE ROBOTS INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Khatib, O. 1986; 5 (1): 90-98
  • Force Control Research at Stanford Intelligent Task Automation Interim Report, Honeywell Inc., Technology Strategy Center Burdick, J., Khatib, O. 1985: 6/33-6/42
  • COSMOS Control System Intelligent Task Automation Interim Report, Honeywell Inc., Technology Strategy Center Burdick, J., Khatib, O. 1984: 6/10-18
  • Force Control Implementation in COSMOS Intelligent Task Automation Interim Report, Honeywell Inc., Technology Strategy Center Burdick, J., Khatib, O. 1984: 6/9-6/13
  • Cartesian Path Planning and Estimation Intelligent Task Automation Interim Report, Honeywell Inc., Technology Strategy Center Burdick, J., Khatib, O. 1983: 5/59-5/83
  • Stanford’s Contribution to Active Force Control for ITA Intelligent Task Automation Interim Report, Honeywell Inc., Technology Strategy Center Craig, J., Khatib, O., Burdick, J. 1983: 5/50-5/59
  • Fonction D´ecision-Commande d’un Robot Industriel Rapport Principal, DERA-CERT Gallaire, H., Khatib, O., Lasserre, C., Llibre, M., Mampey, R. 1978
  • Fonction D´ecision-Commande d’un Robot Manipulateur Rapport Scientifique, DERA-CERT Khatib, O., Llibre, M., Mampey, R. 1978

Books and Book Chapters


  • Romansy 19 - Robot Design Dynamics, and Contol, Springer. edited by Padois, V., Bidaud, P., Khatib, O. CISM 544, Springer. 2013
  • Motor vs. Brake: Comparative Studies on Performance and Safety in Hybrid Actuations. In Experimental Robotics. Shin, D., Yeh, X., Narita, T., Khatib, O. Springer Tracts in Advanced Robotics, Springer, Berlin, Heidelberg, Germany. 2012: 1
  • Constraint-Consistent Analysis of Muscle Force Contributions to Human Gait. Advances in Robot Kinematics. Demircan, E., Khatib, O. edited by Lenarcic, J., Husty, M. Springer, Berlin, Heidelberg, Germany. 2012: 301-308
  • A Unified Framework for Whole-Body Humanoid Robot Control with Multiple Constraints and Contacts. Springer Tracts in Advanced Robotics Khatib, O., Sentis, L., Park, J. edited by Bruyninckx, H., Preucil, L., Kulich, M. Springer, Berlin, Heidelberg, Germany. 2009: 303-312
  • The Handbook of Robotics Siciliano, B., Khatib, O. edited by Siciliano, B., Khatib, O. Springer. 2008
  • Actuations Method for Human-Centered Robotics and Associated Control Challenges Control Problems in Robotics Zinn, M., Khatib, O., Roth, B., Salisbury, K. edited by Bicchi, A., Christensen, H., Prattichizzo, D. STAR, Springer. 2003: 105-120
  • Potential Fields and Neural Networks The Handbook of Brain, Theory and Neural Networks Liu, J., Khatib, O. edited by Arbib, Michael, A. MIT Press. 2002; 2nd: 1
  • Efficient algorithms for robots with human-like structures and interactive haptic simulation Advances in Robot Kinematics: Theory and Applications Khatib, O., Brock, O., Chang, K., S., Conti, F., Ruspini, D., Sentis, L. edited by Lenarcic, J., Thomas, F. Kluwer Academic Publishers. 2002: 89-98
  • Simulation with Contact for Haptic Interaction Touch in Virtual Environments Ruspini, D., Khatib, O. edited by McLaughlin, M., Hespanha, J., P., Sukhatme, G., S. Prentice-Hall. 2001: 32-46
  • Haptics for Virtual Prototyping Recent Advances in Mechatronics Ruspini, D., Khatib, O. edited by Kaynak, O., Tosunoglu, S., Ang Jr, M. Springer. 1999: 294-303
  • Autonomous Robotic Systems de Almeida, A., T. Springer-Verlag. 1998
  • Mobile Manipulator System Autonomous Robotic Systems Khatib, O. edited by de Almeida, A., T., Khatib, O. Springer-Verlag. 1998: 141-148
  • A Unified Approach to Motion and Force Control of Robot Manipulators: The Operational Space Formulation Robot Control: Dynamics, tionPlanning and Analysis Khatib, O. edited by Spong, M., W., Lewis, F., L., Abdallah, C., T. IEEE Press. 1993: 277-287
  • Robotics Review 2 Khatib, O., Craig, J., Lozano-Perez, T. MIT Press. 1992
  • Real-Time Obstacle Avoidance for Manipulators and Mobile Robots Autonomous Mobile Robots: Perception, Mapping, and Navigation Khatib, O. edited by Iyengar, S., S., Elfes, A. IEEE Computer Society Press. 1991: 428-436
  • Real-Time Obstacle Avoidance for Manipulators and Mobile Robots Autonomous Robot Vehicles Khatib, O. edited by Cox, I., Wilfong, G. Springer-Verlag Berlin Heidelberg. 1990: 389-404
  • The Robotics Review 1 Khatib, O., Craig, J., Lozano-Perez, T. MIT Press. 1989
  • The Potential Field Approach and Operational Space Formulation in Robot Control Adaptive and Learning Systems: Theory and Applications Khatib, O. edited by Narendra, K., S. Plenum Press. 1986: 367-377

Conference Proceedings


  • Experimental Robotics: The 12th International Symposium on Experimental Robotics edited by Khatib, O., Kumar, V., Sukhatme, G. 2013
  • Special Issue of the Twelfth International Symposium on Experimental Robotics Khatib, O., Kumar, V., Sukhatme, G., S. 2012
  • JediBot - Experiments in Human-Robot Sword-Fighting. Krger, T., Oslund, K., Jenkins, T., Torczynski, D., Hippenmeyer, N., Rusu, R., B., Khatib, O. 2012
  • A Depth Space Approach to Human-Robot Collision Avoidance. Flacco, F., Kroger, T., Luca, A., De, Khatib, O. 2011
  • Capacitive Skin Sensors for Robot Impact Monitoring. Phan, S., Quek, Z., F., Shah, P., Shin, D., Ahmed, Z., Khatib, O. 2011
  • Task-Level Reconstruction and Analysis of Dynamic Motions in Human Musculoskeletal Systems. Demircan, E., Khatib, O. 2011
  • Controlling Biomechanical Models To Move Like Humans Do. Menon, S., Khatib, O. 2011
  • Grasping with Application to an Autonomous Checkout Robot. Klingbeil, E., Rao, D., Carpenter, B., Ganapathi, V., Ng, A., Y., Khatib, O. 2011
  • Collision Avoidance in Depth Space. Flacco, F., Kroger, T., Luca, A., De, Khatib, O. 2011
  • Design and Control of a Bio-inspired Human-friendly Robot Shin, D., Sardellitti, I., Park, Y., Khatib, O., Cutkosky, M. SAGE PUBLICATIONS LTD. 2010: 571-584
  • Robotics-Based Human Dynamic Performance Analysis. Demircan, E., Khatib, O. 2010
  • Robots and the Human. Khatib, O. 2010
  • Towards Dependable Perception: Guaranteed Inference for Global Localization. Petrovskaya, A., Thrun, S., Koller, D., Khatib, O. 2010
  • Towards Dependable Perception: Guaranteed Inference for Global Localization. Petrovskaya, A., Thrun, S., Koller, D., Khatib, O. 2010
  • A New Actuation Approach for Haptic Interface Design Conti, F., Khatib, O. SAGE PUBLICATIONS LTD. 2009: 834-848
  • Reconstruction and EMG-Informed Control, Simulation and Analysis of Human Movement for Athletics: Performance Improvement and Injury Prevention Demircan, E., Khatib, O., Wheeler, J., Delp, S. IEEE. 2009: 6534-6537

    Abstract

    In this paper we present methods to track and characterize human dynamic skills using motion capture and electromographic sensing. These methods are based on task-space control to obtain the joint kinematics and extract the key physiological parameters and on computed muscle control to solve the muscle force distribution problem. We also present a dynamic control and analysis framework that integrates these metrics for the purpose of reconstructing and analyzing sports motions in real-time.

    View details for Web of Science ID 000280543605089

    View details for PubMedID 19964175

  • Modeling and Control of Multi-Contact Centers of Pressure and Internal Forces in Humanoid Robots. Sentis, L., Park, J., Khatib, O. 2009
  • Reconstruction and EMG-Informed Control Demircan, E., Khatib, O., Wheeler, J., Delp, S. 2009
  • Experimental Robotics: The Eleventh International Symposium edited by Khatib, V., Kumar 2009
  • Large Scale Multi-Robot Coordination Under Networ k and Geographical Constraints Sentis, L., Mintz, M., Ayyagari, A., Battles, C., Ying, S., Khatib, O. 2009
  • Design and Control of a Bioinspired Human-Friendly Robot. Shin, D., Sardellitti, I., Park, Y., L., Khatib, O., Cutkosky, M., R. 2008
  • A Unified Framework for Whole-Body Humanoid Robot Control With Multiple Constraints and Contacts Khatib, O., Sentis, L., Park, J. 2008
  • Compliant motion control for a humanoid robot in contact with the environment and humans. Yoshikawa, T., Khatib, O. 2008
  • Experimental Robotics Khatib, O., Kumar, V., Rus, D. 2008
  • A Hybrid Actuation Approach for Haptic Interfaces. Conti, F., Khatib, O., Baur, C. 2007
  • A haptic teleoperation approach based on contact force control Park, J., Khatib, O. SAGE PUBLICATIONS LTD. 2006: 575-591
  • Experimental Robotics IX Ang Jr, M., H., Khatib, O. 2006
  • A new actuation approach for haptic interface design. Conti, F., Khatib, O. 2006
  • A Whole-Body Control Framework for Humanoid Operating in Human Environments Sentis, L., Khatib, O. 2006
  • Special Issue on the 9th International Symposium on Robotics Research. Ang, M., Khatib, O. 2006
  • The Actuation Efficiency, a Measure of Acceleration Capability for Non-Redundant Robotic Manipulators. Bowling, A., Khatib, O. 2005
  • A new actuation approach for human friendly robot design Zinn, M., Roth, B., Khatib, O., Salisbury, J. K. SAGE PUBLICATIONS LTD. 2004: 379-398
  • Human-centered robotics and interactive haptic simulation Khatib, O., Brock, O. SAGE PUBLICATIONS LTD. 2004: 167-178
  • Task-Oriented Control of Humanoid Robots Through Prioritization Sentis, L., Khatib, O. 2004
  • A New Actuation Approach for Human-friendly Robot Design Zinn, M., Khatib, O., Roth, B. 2004
  • Teleoperation for Compliant Motion Task Park, J., Cortesao, R., Khatib, O. 2003
  • Interactive rendering of deformable objects based on a filling sphere modeling approach Conti, F., Khatib, O., Baur, C. 2003
  • Reactive Collision Avoidance for Navigation with Dynamic Constraints Minguez, J., Montano, L., Khatib, O. 2002
  • Towards A Human-Centered Intrinsically- Safe Robotic Manipulator Zinn, M., Khatib, O., Roth, B., Salisbury, J., K. 2002
  • Task-Consistent Obstacle Avoidance for Mobile Manipulation Brock, O., Khatib, O., Viji, S. 2002
  • Human-Centered Robotics and Interactive Haptic Simulation. Khatib, O., Brock, O., Chang, K., S., Ruspini, D., Sentis, L., Viji, S. edited by Jarvis, R., A., Zelinsky, A. 2002
  • Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation Oetomo, D., Ang Jr, M., H., Jamisola, R., Khatib, O. 2002
  • A New Actuation Approach for Human Friendly Robot Design Zinn, M., Khatib, O., Roth, B., Salisbury, J., K. edited by Siciliano, B., Dario, P. 2002
  • Haptically Augmented Teleoperation Turro, N., Khatib, O., Coste-Maniere, E. 2001
  • Integrated Planning and Execution: Elastic Strips Brock, O., Khatib, O. 2000
  • A Powered-Caster Holonomic Robotic Vehicle forMobile Manipulation Tasks Holmberg, R., Khatib, O. 2000
  • High-Speed Navigation Using the Global Dynamic Window Approach Brock, O., Khatib, O. 2000
  • Robot Acceleration Capability: The Actuation Efficiency Measure Bowling, A., Khatib, O. 2000
  • Operational Space Dynamics: Efficient Algorithms for Modeling and Control of Branching Mechanisms Chang, K., S., Khatib, O. 2000
  • The Augmented Object Model: Cooperative Manipulation and Parallel Mechanism Dynamics Chang, K., S., Holmberg, R., Khatib, O. 2000
  • Real-Time Replanning in High-Dimensional Configuration Spaces Using Sets of Homotopic Paths Brock, O., Khatib, O. 2000
  • ‘Gauss’ Principle and the Dynamics of Redundant and Constrained Manipulators Bruyninckx, H., Khatib, O. 2000
  • Robots in Human Environments Khatib, O. 2000
  • The Stanford Robotics Platforms Khatib, O. 1999
  • Real-Time Obstacle Avoidance and Motion Coordination in a Multi-Robot Workcell Brock, O., Khatib, O. 1999
  • Dancing with Juliet Khatib, O., Brock, O., Yokoi, K., Holmberg, R. 1999
  • Haptics for Virtual Prototyping Ruspini, D., Khatib, O. 1999
  • Practical connection between potential fields and neural networks Liu, J., Khatib, O. 1999
  • Dynamics Identification and Control of an Industrial Robot. Jamisola, R., Ang Jr, M., Lim, T, M., Khatib, O., Lim, S., Y. 1999
  • A general Contact Model for Dynamically- Decoupled Force/Motion Control Featherstone, R., Sonck, S., Khatib, O. 1999
  • ProVAR Assistive Robot System Architecture der Loos, M., Van, Wagner, J., J., Smaby, N., Chang, K., Madrigal, O., Leifer, L., J., Khatib, O. 1999
  • Robots in Human Environments Khatib, O., Yokoi, K., Brock, O., Chang, K., Casal, A. 1999
  • Development of a Holonomic Mobile Robot for Mobile Manipulation Tasks Holmberg, R., Khatib, O. 1999
  • Efficient Algorithm for Extended Operational Space Inertia Matrix Chang, K., C., Khatib, O. 1999
  • Robots in Human Environment Khatib, O., Yokoi, K., Brock, O., Chang, K., S., Casal, A. 1999
  • Collision/Contact Models for Dynamic Simulation and Haptic Interaction Ruspini, D., Khatib, O. 1999
  • Modular Redundant Manipulator Design for Dynamic Performance Bowling, A., Khatib, O. 1998
  • The Motion Isotropy Hypersurface: A characterization of Acceleration Bowling, A., Khatib, O. 1998
  • Mobile Manipulation: Collision-Free Path Modification and Motion Coordination. Brock, O., Khatib, O. 1998
  • Elastic Strip: Real-Time Path Modification for Mobile Manipulation Brock, O., Khatib, O. edited by Shirai, Y., Hirose, S. 1998
  • Robots in Human Environment: Basic Autonomous Capabilities Khatib, O., Yokoi, K., Brock, O., Chang, K., Casal, A. 1998
  • Haptics for Multi-Scale Virtual Prototyping Ruspini, D., Khatib, O. 1998
  • Elastic Strips: Real-Time Path Modification for Mobile Manipulation Brock, O., Khatib, O. 1997
  • The Stanford Robotic Platforms Khatib, O., Yokoi, K., Chang, K., Casal, A. 1997
  • Mobile Robotic Manipulation Khatib, O. 1997
  • Robot learning and planning based on discrete-event systems models Liu, J., Khatib, O., Tang, Y. 1997
  • The Haptic Display of Complex Graphical Environments Ruspini, D., Kolarov, K., Khatib, O. 1997
  • Mobile Manipulators: Expending the Frontiers of Robot Applications Khatib, O. 1997
  • Experimental Robotics IV Khatib, O., Salisbury Jr., J., K. 1997
  • Coordination and decentralized cooperation of multiple mobile manipulators Khatib, O., Yokoi, K., Chang, K., Ruspini, D., Holmberg, R., Casal, A. JOHN WILEY & SONS INC. 1996: 755-764
  • Decentralized Cooperation of Multiple Mobile Manipulators Khatib, O., Yokoi, K., Chang, K., Ruspini, D., Holmberg, R., Casal, A. 1996
  • The Robust Haptic Display of Graphical Environments Ruspini, D., Kolarov, K., Khatib, O. 1996
  • Design of Digital Adaptive Algorithm for Torque-Controlled Robotic Joints Abdel-Magid, Y., Khatib, O. 1996
  • Force Strategies for Cooperative Tasks in Multiple Mobile Manipulation Systems Khatib, O., Yokoi, K., Chang, K., Ruspini, D., Holmberg, R., Casal, A. edited by Giralt, G., Hirzinger, G. 1996
  • An Operational Space Formulation for Free-Flying, Multi-Arm Space Robot Russakow, J., Rock, S., Khatib, O. 1996
  • The Robotic Assistant Khatib, O., Yokoi, K., Chang, K., Ruspini, D., Holmberg, R., Casal, A. 1996
  • Wrist Force Sensor Feedback for Improved Actuation Performance in Conventional Arms Williams, D., Khatib, O. 1996
  • Manipulator Design for Dynamic Performance Khatib, O., Bowling, A. 1996
  • Cooperative Tasks in Multiple Mobile Manipulation Systems Khatib, O., Yokoi, K., Chang, K., Ruspini, D., Holmberg, R., Casal, A. 1996
  • Mobile Manipulator Systems Khatib, O. 1996
  • Cooperative Manipulation in Mobile Robotic Systems Khatib, O. 1995
  • Robot Planning and Control Khatib, O. 1995
  • Improved Force Control for Conventional Arms Using Wrist-Based Torque Feedback Williams, D., Khatib, O. 1995
  • Sensor-Based Control of Robots Khatib, O. 1995
  • Multi-Grasp Manipulation Williams, D., Khatib, O. 1995
  • An Operational Space Formulation for Free-Flying, Multi-Arm Space Robot Russakow, J., Rock, S., Khatib, O. 1995
  • Analysis of the Acceleration Characteristics of Manipulators. Bowling, A., Khatib, O. edited by Morecki, A., Bianchi, G., Jaworek, K. 1995
  • Extended Operational Space Formulation for Serialto-parallel Chain (Branching) Manipulators Russakow, J., Khatib, O., Rock, S. 1995
  • Improved Force Control for Conventional Arms Using Wrist- Based Torque Feedback Williams, D., Khatib, O. 1995
  • An Operational Space Formulation for Free-Flying, Multi-Arm Space Robot Russakow, J., Rock, S., Khatib, O. 1995
  • Sensor-Based Robotic Manipulation Khatib, O. 1994
  • Real-Time Motion Vision for Robot Control in Unstructured Environment. Woodfill, J., Zabih, R., Khatib, O. edited by Demsetz, L., Klarer, P. 1994
  • Dynamically Consistent Strategy for Manipulator Control at Singularities. Chang, K., S., Khatib, O. 1994
  • Towards Integrated Planning and Control Khatib, O. 1994
  • Experiments in Multi-Grasp Manipulation. Williams, D., Khatib, O. edited by Hayward, V. 1994
  • Experiments with Dynamic Skills. Arai, H., Khatib, O. 1994
  • Experiments in Multi-Grasp Manipulation. Williams, D., Khatib, O. edited by Yoshikawa, T. 1994
  • A Framework for Task-Level Robotics Manipulation Khatib, O. edited by Kanade, T., Paul, R. 1994
  • Robotic Manipulation Khatib, O., Williams, D., Quinlan, S., Ruspini, D., Holmberg, R., Chang, K. 1994
  • Cooperative Mobile Robotic Manipulation Khatib, O. 1994
  • Modeling and Control of Internal Force Dynamics in Multi-Grasp Manipulation. Williams, D., Khatib, O. edited by Jamshidl, M., Nauyen, C., Lumia, R. 1994
  • Towards Real-Time Execution of Motion Tasks Quinlan, S., Khatib, O. edited by Chatila, R., Hirzinger, G. 1993
  • A New Actuation System for High-Performance Torque-Controlled Manipulators Holmberg, R., Dickert, S., Khatib, O. edited by Morecki, A., Bianchi, G., Jaworek, K. 1993
  • A Task-Level Framework for Robotics Manipulation. Khatib, O. 1993
  • missing title edited by Khatib, O., Hayward, V., Chatila, R. 1993
  • Mobile Robotic Manipulation. Khatib, O. 1993
  • Towards Real-Time Execution of Motion Tasks Quinlan, S., Khatib, O. edited by Hayward, V., Chatila, R. 1993
  • The Virtual Linkage: A Model for Internal Forces in Multi-Grasp Manipulation. Williams, D., Khatib, O. 1993
  • Design and Development of Torque-Controlled Joints Vischer, D., Khatib, O. edited by Khatib, O., Hayward, V., Chatila, R. 1993
  • A Framework for Task-Level Robotics Manipulation Khatib, O. edited by Kanade, T., Paul, R. 1993
  • Elastic Bands: Connecting Path Planning and Robot Control. Quinlan, S., Khatib, O. 1993
  • A New Control Structure for Free-Flying Space Robots. Russakow, J., Khatib, O. 1992
  • Characterization of Internal Forces in Multi-Grasp Manipulation. Williams, D., Khatib, O. 1992
  • Towards a New Generation of Force-Controlled Robot Manipulators Khatib, O. 1991
  • The Design of a High-Performance Force-Controlled Manipulator Khatib, O., Roth, B., Waldron, K. 1991
  • New Robot Mechanisms for New Robot Capabilities Khatib, O., Roth, B. 1991
  • Performance Evaluation of Force/Torque Feedback Control Methodologies Vischer, D., Khatib, O. 1990
  • Motion/Force Redundancy of Manipulators Khatib, O. 1990
  • Object Level Manipulation Khatib, O. 1990
  • Design and Construction of Torque-Controlled Joints Vischer, D., Khatib, O. edited by Hayward, V., Khatib, O. 1990
  • Experimental Robotics I Hayward, V., Khatib, O. 1990
  • Reduced Effective Inertia in Macro-/Mini-Manipulator Systems Khatib, O. 1990
  • Dynamic Control of Multi-Structure Robot Systems at the Manipulated Object Level Khatib, O. edited by Kabil, Y., Said, M. 1989
  • Isotropic and Uniform Inertial and Acceleration Characteristics: Issues in the Design of Manipulators Khatib, O., Agrawal, S. edited by Schweitzer, G., Mansour, M. 1989
  • Kinematic Structure for a Force Controlled Redundant Manipulator Roth, B., Raghavan, M., Khatib, O., Waldron, K. 1988
  • The Augmented Object and Reduced Effective Inertia in Robot Systems Khatib, O. 1988
  • Force-Based Motion Control of Robot Manipulators Khatib, O. 1988
  • Inertial Characteristics and Dextrous Dynamic Coordination of Macro/Micro-Manipulator Systems Khatib, O. 1988
  • Object Manipulation in a Multi-Effector Robot System Khatib, O. 1988
  • Redundant Manipulators and Kinematic Singularities: The Operational Space Approach Khatib, O. edited by Morecki, A., Binachi, G., Kedzior, K. 1987
  • Sensor-Based Robot Control Burdick, J., Fearing, R., Khatib, O., Pfeffer, L., Shekhar, S. 1987
  • Force Control of Robot Manipulators Khatib, O., Burdick, J. 1987
  • Robust Operational Space Control for Goal Positioned Manipulator Tasks Slotine, J., J., Khatib, O., Ruth, D. 1987
  • Force Strategies in Real-Time Fine Motion Assembly Shekhar, S., Khatib, O. 1987
  • Joint Torque Sensory Feedback in the Control of a PUMA Manipulator Pfeffer, L., Khatib, O., Hake, J. 1986
  • Robot Manipulator Control in Operational Space Khatib, O. 1986
  • Active Force Control Khatib, O., Burdick, J. 1986
  • Sensor Fusion and Object Localization Shekhar, S., Khatib, O., Shimojo, M. 1986
  • The Explicit Dynamic Model and Inertial Parameters of the PUMA 560 Arm Armstrong, B., Khatib, O., Burdick, J. 1986
  • Constrained Motion and Redundancy in Robot Manipulator Control Khatib, O. 1986
  • The Operational Space Formulation in the Analysis, Design, and Control of Manipulators Khatib, O. 1986
  • Motion and Force Control of Robot Manipulators Khatib, O., Burdick, J. 1986
  • The Operational Space Formulation in Robot Manipulator Control Khatib, O. 1985
  • Dynamic Optimization in Manipulator Design: The Operational Space Formulation Khatib, O., Burdick, J. edited by Donath, M., Leu, M. 1985
  • Real-Time Obstacle Avoidance for Manipulators and Mobile Robots Khatib, O. 1985
  • Robotics in Three Acts - Part II Khatib, O., Burdick, J., Armstrong, B. 1985
  • The Potential Field Approach and Operational Space Formulation in Robot Control Khatib, O. 1985
  • Real-Time Control of Manipulators in Operational Space Khatib, O. 1984
  • Robotics in Three Acts Burdick, J., Craig, J., Fearing, R., Khatib, O., Salisbury, K. 1984
  • Dynamic Control of Manipulators in Operational Space Khatib, O. 1983
  • Dynamic Control of Manipulators Operating in a Complex Environment Khatib, O., Maitre, J., F. Le 1978