Bio

Robotics research on novel control architectures, algorithms, sensing, and human-friendly designs for advanced capabilities in complex environments. With a focus on enabling robots to interact cooperatively and safely with humans and the physical world, these studies bring understanding of human movements for therapy, athletic training, and performance enhancement. Our work on understanding human cognitive task representation and physical skills is enabling transfer for increased robot autonomy. With these core capabilities, we are exploring applications in healthcare and wellness, industry and service, farms and smart cities, and dangerous and unreachable settings -- deep in oceans, mines, and space.

Academic Appointments

Program Affiliations

  • Stanford SystemX Alliance
  • Symbolic Systems Program

Professional Education

  • PhD, Sup-Aero, France (1980)

Contact

  • Academic
    KHATIB@CS.stanford.edu
    University - Faculty Department: Computer Science Position: Professor
    • GATES BLDG
    • Office: 248
    • Stanford,  California  94305-9010 
    (650) 725-1449 (fax)

Additional Info

Links

2024-25 Courses

Stanford Advisees

All Publications

  • Constraint-consistent task-oriented whole-body robot formulation: Task, posture, constraints, multiple contacts, and balance INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Khatib, O., Jorda, M., Park, J., Sentis, L., Chung, S. 2022

    View details for DOI 10.1177/02783649221120029

    View details for Web of Science ID 000863460300001

  • Local Autonomy-Based Haptic-Robot Interaction With Dual-Proxy Model IEEE TRANSACTIONS ON ROBOTICS Jorda, M., Vulliez, M., Khatib, O. 2022

    View details for DOI 10.1109/TRO.2022.3160053

    View details for Web of Science ID 000785860400001

  • Editorial INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS Ge, S., Wykowska, A., Khatib, O. 2021

    View details for DOI 10.1007/s12369-021-00774-w

    View details for Web of Science ID 000637690300001

  • Understanding and Segmenting Human Demonstrations into Reusable Compliant Primitives Herrero, E., Ho, J., Khatib, O., IEEE IEEE. 2021: 9437-9444

    View details for DOI 10.1109/IROS51168.2021.9636523

    View details for Web of Science ID 000755125507053

  • Editorial INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS Wykowska, A., Ge, S., Khatib, O. 2020

    View details for DOI 10.1007/s12369-020-00735-9

    View details for Web of Science ID 000599793500001

  • EB-RRT: Optimal Motion Planning for Mobile Robots IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING Wang, J., Meng, M., Khatib, O. 2020; 17 (4): 2063–73

    View details for DOI 10.1109/TASE.2020.2987397

    View details for Web of Science ID 000579640900031

  • Contact-space resolution model for a physically consistent view of simultaneous collisions in articulated-body systems: theory and experimental results INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Ganguly, S., Khatib, O. 2020

    View details for DOI 10.1177/0278364920955242

    View details for Web of Science ID 000571181000001

  • ISER 2018 Editorial INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Xiao, J., Kroeger, T., Khatib, O. 2020; 39 (10-11): 1199–1200

    View details for DOI 10.1177/0278364920960955

    View details for Web of Science ID 000575837500001

  • Controlling Ocean One: Human-robot collaboration for deep-sea manipulation JOURNAL OF FIELD ROBOTICS Brantner, G., Khatib, O. 2020

    View details for DOI 10.1002/rob.21960

    View details for Web of Science ID 000536755700001

  • Editorial INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS Ge, S., Wykowska, A., Khatib, O. 2020

    View details for DOI 10.1007/s12369-020-00648-7

    View details for Web of Science ID 000557292600001

  • UniGrasp: Learning a Unified Model to Grasp With Multifingered Robotic Hands IEEE ROBOTICS AND AUTOMATION LETTERS Shao, L., Ferreira, F., Jorda, M., Nambiar, V., Luo, J., Solowjow, E., Ojea, J., Khatib, O., Bohg, J. 2020; 5 (2): 2286–93

    View details for DOI 10.1109/LRA.2020.2969946

    View details for Web of Science ID 000526572000025

  • Editorial INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS Ge, S., Wykowska, A., Khatib, O. 2020

    View details for DOI 10.1007/s12369-019-00618-8

    View details for Web of Science ID 000516171500001

  • Editorial (vol 12, pg 1, 2020) INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS Wykowska, A., Ge, S., Khatib, O. 2020; 12 (1): 297

    View details for DOI 10.1007/s12369-020-00630-3

    View details for Web of Science ID 000520401300022

  • Human-Robot Collaboration in Construction: Opportunities and Challenges Brosque, C., Galbally, E., Khatib, O., Fischer, M., IEEE IEEE. 2020: 338-345

    View details for Web of Science ID 000644404300061

  • Controlling Muscle-Actuated Articulated Bodies in Operational Space Menon, S., Migimatsu, T., Khatib, O., Amato, N. M., Hager, G., Thomas, S., TorresTorriti, M. SPRINGER INTERNATIONAL PUBLISHING AG. 2020: 1037–53

    View details for DOI 10.1007/978-3-030-28619-4_69

    View details for Web of Science ID 000632686200069

  • Editorial INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS Ge, S., Wykowska, A., Khatib, O. 2019; 11 (5): 691–92

    View details for DOI 10.1007/s12369-019-00610-2

    View details for Web of Science ID 000511670300001

  • Editorial INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS Wykowska, A., Ge, S., Khatib, O. 2019; 11 (4): 539–40

    View details for DOI 10.1007/s12369-019-00584-1

    View details for Web of Science ID 000487644600001

  • Editorial INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS Ge, S., Wykowska, A., Khatib, O. 2019; 11 (3): 371–72

    View details for DOI 10.1007/s12369-019-00567-2

    View details for Web of Science ID 000474401100001

  • Editorial INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS Ge, S., Wykowska, A., Khatib, O. 2019; 11 (2): 209–10

    View details for DOI 10.1007/s12369-019-00543-w

    View details for Web of Science ID 000468508400001

  • Editorial INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS Ge, S., Wykowska, A., Khatib, O. 2019; 11 (1): 1–3

    View details for DOI 10.1007/s12369-019-00515-0

    View details for Web of Science ID 000460006800001

  • Contact-Driven Posture Behavior for Safe and Interactive Robot Operation Jorda, M., Herrero, E., Khatib, O., IEEE, Howard, A., Althoefer, K., Arai, F., Arrichiello, F., Caputo, B., Castellanos, J., Hauser, K., Isler, Kim, J., Liu, H., Oh, P., Santos, Scaramuzza, D., Ude, A., Voyles, R., Yamane, K., Okamura, A. IEEE. 2019: 9243–49

    View details for Web of Science ID 000494942306114

  • Journal of Field Robotics special issue on MBZIRC 2017 Challenges in Autonomous Field Robotics JOURNAL OF FIELD ROBOTICS Dias, J., Lima, P. U., Seneviratne, L., Khatib, O., Tadokoro, S., Dario, P. 2019; 36 (1): 3–5

    View details for DOI 10.1002/rob.21851

    View details for Web of Science ID 000455132600001

  • A hierarchically patterned, bioinspired e-skin able to detect the direction of applied pressure for robotics SCIENCE ROBOTICS Boutry, C. M., Negre, M., Jorda, M., Vardoulis, O., Chortos, A., Khatib, O., Bao, Z. 2018; 3 (24)

    View details for DOI 10.1126/scirobotics.aau6914

    View details for Web of Science ID 000450814400002

  • A hierarchically patterned, bioinspired e-skin able to detect the direction of applied pressure for robotics. Science robotics Boutry, C. M., Negre, M., Jorda, M., Vardoulis, O., Chortos, A., Khatib, O., Bao, Z. 2018; 3 (24)

    Abstract

    Tactile sensing is required for the dexterous manipulation of objects in robotic applications. In particular, the ability to measure and distinguish in real time normal and shear forces is crucial for slip detection and interaction with fragile objects. Here, we report a biomimetic soft electronic skin (e-skin) that is composed of an array of capacitors and capable of measuring and discriminating in real time both normal and tangential forces. It is enabled by a three-dimensional structure that mimics the interlocked dermis-epidermis interface in human skin. Moreover, pyramid microstructures arranged along nature-inspired phyllotaxis spirals resulted in an e-skin with increased sensitivity, minimal hysteresis, excellent cycling stability, and response time in the millisecond range. The e-skin provided sensing feedback for controlling a robot arm in various tasks, illustrating its potential application in robotics with tactile feedback.

    View details for DOI 10.1126/scirobotics.aau6914

    View details for PubMedID 33141713

  • Editorial INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS Ge, S., Khatib, O. 2018; 10 (5): 553–54

    View details for DOI 10.1007/s12369-018-0505-4

    View details for Web of Science ID 000451673100001

  • Design strategy and issues of the Delthaptic, a new 6-DOF parallel haptic device MECHANISM AND MACHINE THEORY Vulliez, M., Zeghloul, S., Khatib, O. 2018; 128: 395–411

    View details for DOI 10.1016/j.mechmachtheory.2018.06.015

    View details for Web of Science ID 000449286300025

  • Editorial INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS Ge, S., Khatib, O. 2018; 10 (4): 385–86

    View details for DOI 10.1007/s12369-018-0491-6

    View details for Web of Science ID 000445226600001

  • Progress and prospects of the human-robot collaboration AUTONOMOUS ROBOTS Ajoudani, A., Zanchettin, A., Ivaldi, S., Albu-Schaeffer, A., Kosuge, K., Khatib, O. 2018; 42 (5): 957–75

    View details for DOI 10.1007/s10514-017-9677-2

    View details for Web of Science ID 000431669800002

  • KABouM: Knowledge-Level Action and Bounding Geometry Motion Planner JOURNAL OF ARTIFICIAL INTELLIGENCE RESEARCH Gaschler, A., Petrick, R. A., Khatib, O., Knoll, A. 2018; 61: 323–62

    View details for Web of Science ID 000432399000002

  • Kinematic Analysis of the Delthaptic, a New 6-DOF Haptic Device ADVANCES IN ROBOT KINEMATICS 2016 Vulliez, M., Zeghloul, S., Khatib, O., Lenarcic, J., Merlet, J. P. 2018; 4: 181–89

    View details for DOI 10.1007/978-3-319-56802-7_19

    View details for Web of Science ID 000429958000021

  • Editorial INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS Ge, S., Khatib, O. 2018; 10 (1): 1–3

    View details for DOI 10.1007/s12369-018-0464-9

    View details for Web of Science ID 000423152900001

  • Design Optimization of Hybrid Actuation Combining Macro-Mini Actuators INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING Kim, N., Kim, J., Khatib, O., Shin, D. 2017; 18 (4): 519-527

    View details for DOI 10.1007/s12541-017-0062-z

    View details for Web of Science ID 000399128900006

  • The Ocean One hands: An adaptive design for robust marine manipulation INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Stuart, H., Wang, S., Khatib, O., Cutkosky, M. R. 2017; 36 (2): 150-166

    View details for DOI 10.1177/0278364917694723

    View details for Web of Science ID 000399558300003

  • Learning potential functions from human demonstrations with encapsulated dynamic and compliant behaviors AUTONOMOUS ROBOTS Khansari-Zadeh, S. M., Khatib, O. 2017; 41 (1): 45-69

    View details for DOI 10.1007/s10514-015-9528-y

    View details for Web of Science ID 000392051600004

  • Haptic fMRI : Reliability and Performance of Electromagnetic Haptic Interfaces For Motion and Force Neuroimaging Experiments Menon, S., Zhu, J., Goyal, D., Khatib, O., IEEE IEEE. 2017: 3930–35

    Abstract

    Haptic interfaces compatible with functional magnetic resonance imaging (Haptic fMRI) promise to enable rich motor neuroscience experiments that study how humans perform complex manipulation tasks. Here, we present a large-scale study (176 scans runs, 33 scan sessions) that characterizes the reliability and performance of one such electromagnetically actuated device, Haptic fMRI Interface 3 (HFI-3). We outline engineering advances that ensured HFI-3 did not interfere with fMRI measurements. Observed fMRI temporal noise levels with HFI-3 operating were at the fMRI baseline (0.8% noise to signal). We also present results from HFI-3 experiments demonstrating that high resolution fMRI can be used to study spatio-temporal patterns of fMRI blood oxygenation dependent (BOLD) activation. These experiments include motor planning, goal-directed reaching, and visually-guided force control. Observed fMRI responses are consistent with existing literature, which supports Haptic fMRI's effectiveness at studying the brain's motor regions.

    View details for Web of Science ID 000427085304092

    View details for PubMedID 29060757

  • New Passivity Observers for Improved Robot Force Control Jorda, M., Balachandran, R., Ryu, J., Khatib, O., Bicchi, A., Okamura, A. IEEE. 2017: 2177–84

    View details for Web of Science ID 000426978202061

  • Haptic fMRI : A Novel Five DOF Haptic Interface for Multi-Axis Motor Neuroscience Experiments Menon, S., Soviche, A., Mithrakumar, J., Subbarao, A., Ganti, H., Khatib, O., Gerling, G., Otaduy, M. A., Ryu, J. H. IEEE. 2017: 13–18

    View details for Web of Science ID 000426705900003

  • Experimental Analysis of Human Control Strategies in Contact Manipulation Tasks Klingbeil, E., Menon, S., Khatib, O., Kulic, D., Nakamura, Y., Khatib, O., Venture, G. SPRINGER INTERNATIONAL PUBLISHING AG. 2017: 275–86

    View details for DOI 10.1007/978-3-319-50115-4_25

    View details for Web of Science ID 000418796400025

  • A Novel Haptic fMRI Interface for Five-Axis Force and Motion Neuroimaging Experiments Menon, S., Soviche, A., Mithrakumar, J., Subbarao, A., Khatib, O., Bicchi, A., Okamura, A. IEEE. 2017: 899–905

    View details for Web of Science ID 000426978201042

  • Ocean One A Robotic Avatar for Oceanic Discovery IEEE ROBOTICS & AUTOMATION MAGAZINE Khatib, O., Yeh, X., Brantner, G., Soe, B., Kim, B., Ganguly, S., Stuart, H., Wang, S., Cutkosky, M., Edsinger, A., Mullins, P., Barham, M., Voolstra, C. R., Salama, K. N., L'Hour, M., Creuze, V. 2016; 23 (4): 20-29

    View details for DOI 10.1109/MRA.2016.2613281

    View details for Web of Science ID 000389874400004

  • A Centrifugal Force-Based Configuration-Independent High-Torque-Density Passive Brake for Human-Friendly Robots IEEE-ASME TRANSACTIONS ON MECHATRONICS Shin, D., Tanaka, A., Kim, N., Khatib, O. 2016; 21 (6): 2827-2835

    View details for DOI 10.1109/TMECH.2016.2575441

    View details for Web of Science ID 000388801000022

  • Adaptive human-inspired compliant contact primitives to perform surface-surface contact under uncertainty INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Khansari, M., Klingbeil, E., Khatib, O. 2016; 35 (13): 1651-1675

    View details for DOI 10.1177/0278364916648389

    View details for Web of Science ID 000385847500006

  • A Depth Space Approach for Evaluating Distance to Objects with Application to Human-Robot Collision Avoidance JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS Flacco, F., Kroeger, T., De Luca, A., Khatib, O. 2015; 80: S7-S22

    View details for DOI 10.1007/s10846-014-0146-2

    View details for Web of Science ID 000368189000003

  • Control of Redundant Robots Under Hard Joint Constraints: Saturation in the Null Space IEEE TRANSACTIONS ON ROBOTICS Flacco, F., De Luca, A., Khatib, O. 2015; 31 (3): 637-654

    View details for DOI 10.1109/TRO.2015.2418582

    View details for Web of Science ID 000356518700009

  • Distributed Operational Space Formulation of Serial Manipulators JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS Bhalerao, K. D., Critchley, J., Oetomo, D., Featherstone, R., Khatib, O. 2014; 9 (2)

    View details for DOI 10.1115/1.4025577

    View details for Web of Science ID 000332062900012

  • A new hybrid actuation scheme with artificial pneumatic muscles and a magnetic particle brake for safe human-robot collaboration INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Shin, D., Yeh, X., Khatib, O. 2014; 33 (4): 507-518

    View details for DOI 10.1177/0278364913509858

    View details for Web of Science ID 000335548200003

  • Haptic fMRI : Accurately Estimating Neural Responses in Motor, Pre-Motor, and Somatosensory Cortex During Complex Motor Tasks 36th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society (EMBC) Menon, S., Yu, M., Kay, K., Khatib, O. IEEE. 2014: 2040–2045

    Abstract

    Haptics combined with functional magnetic resonance imaging (Haptic fMRI) can non-invasively study how the human brain coordinates movement during complex manipulation tasks, yet avoiding associated fMRI artifacts remains a challenge. Here, we demonstrate confound-free neural activation measurements using Haptic fMRI for an unconstrained three degree-of-freedom motor task that involves planning, reaching, and visually guided trajectory tracking. Our haptic interface tracked subjects' hand motions, velocities, and accelerations (sample-rate, 350Hz), and provided continuous realtime visual feedback. During fMRI acquisition, we achieved uniform response latencies (reaching, 0.7-1.1s; tracking, 0.4-0.65s); minimized hand jitter (<;8mm); and ensured reliable motion trajectories (tracking, <;7mm root-mean-square error). In addition, our protocol decorrelated head motion from both hand speed (r=-0.03) and acceleration (r=-0.025), which reliably produced low head motion levels (<;0.4mm/s between scan volumes) and a low fMRI temporal noise-to-signal ratio (<;1%) across thirty-five scan runs. Our results address the primary outstanding Haptic fMRI confounds: motion induced low spatial-frequency magnetic field changes, which correlate neural activation across cortex; unreliable motions and response latencies, which reduce statistical power; and task-correlated head motion, which causes spurious fMRI activation. Haptic fMRI can thus reliably elicit and localize heterogeneous neural activation for different tasks in motor (movement), pre-motor (planning), and somatosensory (limb displacement) cortex, demonstrating that it is feasible to use the technique to study how the brain achieves three dimensional motor control.

    View details for Web of Science ID 000350044702008

    View details for PubMedID 25570385

  • Mapping stiffness perception in the brain with an fMRI-compatible particle-jamming haptic interface. Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference Menon, S., Stanley, A. A., Zhu, J., Okamura, A. M., Khatib, O. 2014; 2014: 2051-2056

    Abstract

    We demonstrate reliable neural responses to changes in haptic stiffness perception using a functional magnetic resonance imaging (fMRI) compatible particle-jamming haptic interface. Our haptic interface consists of a silicone tactile surface whose stiffness we can control by modulating air-pressure in a sub-surface pouch of coarsely ground particles. The particles jam together as the pressure decreases, which stiffens the surface. During fMRI acquisition, subjects performed a constant probing task, which involved continuous contact between the index fingertip and the interface and rhythmic increases and decreases in fingertip force (1.6 Hz) to probe stiffness. Without notifying subjects, we randomly switched the interface's stiffness (switch time, 300-500 ms) from soft (200 N/m) to hard (1400 N/m). Our experiment design's constant motor activity and cutaneous tactile sensation helped disassociate neural activation for both from stiffness perception, which helped localized it to a narrow region in somatosensory cortex near the supra-marginal gyrus. Testing different models of neural activation, we found that assuming indepedent stiffness-change responses at both soft-hard and hard-soft transitions provides the best explanation for observed fMRI measurements (three subjects; nine four-minute scan runs each). Furthermore, we found that neural activation related to stiffness-change and absolute stiffness can be localized to adjacent but disparate anatomical locations. We also show that classical finger-tapping experiments activate a swath of cortex and are not suitable for localizing stiffness perception. Our results demonstrate that decorrelating motor and sensory neural activation is essential for characterizing somatosensory cortex, and establish particle-jamming haptics as an attractive low-cost method for fMRI experiments.

    View details for DOI 10.1109/EMBC.2014.6944019

    View details for PubMedID 25570387

  • Haptic fMRI : Using Classification to Quantify Task-Correlated Noise during Goal-Directed Reaching Motions 36th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society (EMBC) Menon, S., Quigley, P., Yu, M., Khatib, O. IEEE. 2014: 2046–2050

    Abstract

    Neuroimaging artifacts in haptic functional magnetic resonance imaging (Haptic fMRI) experiments have the potential to induce spurious fMRI activation where there is none, or to make neural activation measurements appear correlated across brain regions when they are actually not. Here, we demonstrate that performing three-dimensional goal-directed reaching motions while operating Haptic fMRI Interface (HFI) does not create confounding motion artifacts. To test for artifacts, we simultaneously scanned a subject's brain with a customized soft phantom placed a few centimeters away from the subject's left motor cortex. The phantom captured task-related motion and haptic noise, but did not contain associated neural activation measurements. We quantified the task-related information present in fMRI measurements taken from the brain and the phantom by using a linear max-margin classifier to predict whether raw time series data could differentiate between motion planning or reaching. fMRI measurements in the phantom were uninformative (2σ, 45-73%; chance=50%), while those in primary motor, visual, and somatosensory cortex accurately classified task-conditions (2σ, 90-96%). We also localized artifacts due to the haptic interface alone by scanning a stand-alone fBIRN phantom, while an operator performed haptic tasks outside the scanner's bore with the interface at the same location. The stand-alone phantom had lower temporal noise and had similar mean classification but a tighter distribution (bootstrap Gaussian fit) than the brain phantom. Our results suggest that any fMRI measurement artifacts for Haptic fMRI reaching experiments are dominated by actual neural responses.

    View details for Web of Science ID 000350044702009

    View details for PubMedID 25570386

  • Circular Pulley Versus Variable Radius Pulley: Optimal Design Methodologies and Dynamic Characteristics Analysis IEEE TRANSACTIONS ON ROBOTICS Shin, D., Yeh, X., Khatib, O. 2013; 29 (3): 766-774

    View details for DOI 10.1109/TRO.2013.2242374

    View details for Web of Science ID 000320137200016

  • Experimental Robotics: The 12th International Symposium on Experimental Robotics edited by Khatib, O., Kumar, V., Sukhatme, G. 2013
  • Haptic fMRI : Combining Functional Neuroimaging with Haptics for Studying the Brain's Motor Control Representation 35th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society (EMBC) Menon, S., Brantner, G., Aholt, C., Kay, K., Khatib, O. IEEE. 2013: 4137–4142

    Abstract

    A challenging problem in motor control neuroimaging studies is the inability to perform complex human motor tasks given the Magnetic Resonance Imaging (MRI) scanner's disruptive magnetic fields and confined workspace. In this paper, we propose a novel experimental platform that combines Functional MRI (fMRI) neuroimaging, haptic virtual simulation environments, and an fMRI-compatible haptic device for real-time haptic interaction across the scanner workspace (above torso ∼ .65×.40×.20m(3)). We implement this Haptic fMRI platform with a novel haptic device, the Haptic fMRI Interface (HFI), and demonstrate its suitability for motor neuroimaging studies. HFI has three degrees-of-freedom (DOF), uses electromagnetic motors to enable high-fidelity haptic rendering (>350Hz), integrates radio frequency (RF) shields to prevent electromagnetic interference with fMRI (temporal SNR >100), and is kinematically designed to minimize currents induced by the MRI scanner's magnetic field during motor displacement (<2cm). HFI possesses uniform inertial and force transmission properties across the workspace, and has low friction (.05-.30N). HFI's RF noise levels, in addition, are within a 3 Tesla fMRI scanner's baseline noise variation (∼.85±.1%). Finally, HFI is haptically transparent and does not interfere with human motor tasks (tested for .4m reaches). By allowing fMRI experiments involving complex three-dimensional manipulation with haptic interaction, Haptic fMRI enables-for the first time-non-invasive neuroscience experiments involving interactive motor tasks, object manipulation, tactile perception, and visuo-motor integration.

    View details for Web of Science ID 000341702104146

    View details for PubMedID 24110643

  • Adaptive Collision Checking for Continuous Robot Motions within Motion Constraints IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Kwon, J., Khatib, O. IEEE. 2013: 5365–5372

    View details for Web of Science ID 000331367405065

  • Virtual Whiskers - Highly Responsive Robot Collision Avoidance IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Schlegl, T., Kroeger, T., Gaschler, A., Khatib, O., Zangl, H. IEEE. 2013: 5373–5379

    View details for Web of Science ID 000331367405066

  • Towards Online Trajectory Generation Considering Robot Dynamics and Torque Limits IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Katzschmann, R., Kroeger, T., Asfour, T., Khatib, O. IEEE. 2013: 5644–5651

    View details for Web of Science ID 000331367405105

  • Romansy 19 - Robot Design Dynamics, and Contol, Springer. edited by Padois, V., Bidaud, P., Khatib, O. CISM 544, Springer. 2013
  • 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

    View details for DOI 10.1177/0278364912459463

    View details for Web of Science ID 000308650000001

  • 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

    View details for DOI 10.1177/0278364912445433

    View details for Web of Science ID 000303022200001

  • Elastic Strips: Implementation on a Physical Humanoid Robot 25th IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS) Kwon, J., Yoshikawa, T., Khatib, O. IEEE. 2012: 3369–3376

    View details for Web of Science ID 000317042703148

  • 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
  • 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
  • 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
  • Motion Control of Redundant Robots under Joint Constraints: Saturation in the Null Space IEEE International Conference on Robotics and Automation (ICRA) Flacco, F., De Luca, A., Khatib, O. IEEE. 2012: 285–292

    View details for Web of Science ID 000309406700043

  • Muscle Force Transmission to Operational Space Accelerations During Elite Golf Swings IEEE International Conference on Robotics and Automation (ICRA) Demircan, E., Besier, T. F., Khatib, O. IEEE. 2012: 1464–1469

    View details for Web of Science ID 000309406701072

  • A Depth Space Approach to Human-Robot Collision Avoidance IEEE International Conference on Robotics and Automation (ICRA) Flacco, F., Kroeger, T., De Luca, A., Khatib, O. IEEE. 2012: 338–345

    View details for Web of Science ID 000309406700051

  • Prioritized Multi-Task Motion Control of Redundant Robots under Hard Joint Constraints 25th IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS) Flacco, F., De Luca, A., Khatib, O. IEEE. 2012: 3970–3977

    View details for Web of Science ID 000317042704082

  • Global Localization of Objects via Touch IEEE TRANSACTIONS ON ROBOTICS Petrovskaya, A., Khatib, O. 2011; 27 (3): 569-585

    View details for DOI 10.1109/TRO.2011.2138450

    View details for Web of Science ID 000291404600017

  • Variable Radius Pulley Design Methodology for Pneumatic Artificial Muscle-based Antagonistic Actuation Systems IEEE/RSJ International Conference on Intelligent Robots and Systems Shin, D., Yeh, X., Khatib, O. IEEE. 2011

    View details for Web of Science ID 000297477502028

  • 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
  • A Depth Space Approach to Human-Robot Collision Avoidance. Flacco, F., Kroger, T., Luca, A., De, Khatib, O. 2011
  • Grasping with Application to an Autonomous Checkout Robot IEEE International Conference on Robotics and Automation (ICRA) Klingbeil, E., Rao, D., Carpenter, B., Ganapathi, V., Ng, A. Y., Khatib, O. IEEE. 2011

    View details for Web of Science ID 000324383402011

  • Instantaneous Stiffness Effects on Impact Forces in Human-Friendly Robots IEEE/RSJ International Conference on Intelligent Robots and Systems Shin, D., Quek, Z. F., Phan, S., Cutkosky, M., Khatib, O. IEEE. 2011: 2998–3003

    View details for Web of Science ID 000297477503054

  • An Open Source Extensible Software Package to Create Whole-Body Compliant Skills in Personal Mobile Manipulators IEEE/RSJ International Conference on Intelligent Robots and Systems Philippsen, R., Sentis, L., Khatib, O. IEEE. 2011: 1036–1041

    View details for Web of Science ID 000297477501059

  • 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

    View details for DOI 10.1109/TRO.2010.2043757

    View details for Web of Science ID 000278541600007

  • 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

    View details for DOI 10.1177/0278364910363633

    View details for Web of Science ID 000276644400001

  • Design and Control of a Bio-inspired Human-friendly Robot 11th International Symposium on Experimental Robotics (ISER) Shin, D., Sardellitti, I., Park, Y., Khatib, O., Cutkosky, M. SAGE PUBLICATIONS LTD. 2010: 571–84

    View details for DOI 10.1177/0278364909353956

    View details for Web of Science ID 000276644400006

  • The Robotics Community IEEE ROBOTICS & AUTOMATION MAGAZINE Khatib, O., Christensen, H. 2010; 17 (1): 11-12

    View details for DOI 10.1109/MRA.2010.935803

    View details for Web of Science ID 000282381100006

  • Analysis of Torque Capacities in Hybrid Actuation for Human-Friendly Robot Design IEEE International Conference on Robotics and Automation (ICRA) Shin, D., Seitz, F., Khatib, O., Cutkosky, M. IEEE. 2010: 799–804

    View details for Web of Science ID 000284150003057

  • 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
  • Robots and the Human. Khatib, O. 2010
  • Robots and the Human 2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR) Khatib, O. SPRINGER-VERLAG BERLIN. 2010: 3–4

    View details for Web of Science ID 000329156800003

  • 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
  • Robotics-Based Human Dynamic Performance Analysis. Demircan, E., Khatib, O. 2010
  • Human Motion Reconstruction and Synthesis of Human Skills 12th International Symposium on Advances in Robot Kinematics (ARK 2010) Demircan, E., Besier, T., Menon, S., Khatib, O. SPRINGER-VERLAG BERLIN. 2010: 283–292

    View details for DOI 10.1007/978-90-481-9262-5_30

    View details for Web of Science ID 000307197500030

  • A New Actuation Approach for Haptic Interface Design 10th International Symposium on Experimental Robotics (ISER) Conti, F., Khatib, O. SAGE PUBLICATIONS LTD. 2009: 834–48

    View details for DOI 10.1177/0278364908097958

    View details for Web of Science ID 000266827400011

  • 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

    View details for DOI 10.1177/0278364909105574

    View details for Web of Science ID 000266827400001

  • 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

    View details for DOI 10.1109/TRO.2009.2020345

    View details for Web of Science ID 000266878300020

  • 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

    View details for PubMedCentralID PMC2782476

  • Design Methodologies of a Hybrid Actuation Approach for a Human-Friendly Robot IEEE International Conference on Robotics and Automation Shin, D., Khatib, O., Cutkosky, M. IEEE. 2009: 3568–3573

    View details for Web of Science ID 000276080401260

  • 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
  • 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
  • Design and Control of a Bio-inspired Human-Friendly Robot 11th International Symposium on Experimental Robotics (ISER) Shin, D., Sardellitti, I., Park, Y., Khatib, O., Cutkosky, M. SPRINGER-VERLAG BERLIN. 2009: 43–52

    View details for Web of Science ID 000268803300005

  • Large Scale Multi-Robot Coordination Under Network and Geographical Constraints IEEE International Symposium on Industrial Electronics (ISIE 2009) Sentis, L., Mintz, M., Ayyagari, A., Battles, C., Ying, S., Khatib, O. IEEE. 2009: 1035–1042

    View details for Web of Science ID 000276815500188

  • Compliant Humanoid Robot Control by the Torque Transformer IEEE RSJ International Conference on Intelligent Robots and Systems Yoshikawa, T., Khatib, O. IEEE. 2009: 3011–3018

    View details for Web of Science ID 000285372901180

  • Reconstruction and EMG-Informed Control, Simulation and Analysis of Human Movement for Athletics: Performance Improvement and Injury Prevention Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society 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

  • Robot multiple contact control ROBOTICA Park, J., Khatib, O. 2008; 26: 667-677

    View details for DOI 10.1017/S0263574708004281

    View details for Web of Science ID 000259621300010

  • 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

    View details for DOI 10.1007/s11044-007-9097-8

    View details for Web of Science ID 000253528900006

  • Results of coring from a low mass rover 2008 IEEE Aerospace Conference Backes, P., Helmick, D., Bajracharya, M., Khatib, O., Padois, V., Warren, J. IEEE. 2008: 53–59

    View details for Web of Science ID 000258321200005

  • Design and Control of a Bioinspired Human-Friendly Robot. Shin, D., Sardellitti, I., Park, Y., L., Khatib, O., Cutkosky, M., R. 2008
  • The Handbook of Robotics Siciliano, B., Khatib, O. edited by Siciliano, B., Khatib, O. Springer. 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
  • 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)
  • Large workspace haptic devices - A new actuation approach 16th Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems Zinn, M., Khatib, O., Roth, B., Salisbury, J. K. IEEE COMPUTER SOC. 2008: 185–192

    View details for Web of Science ID 000254949300027

  • A new actuation approach for haptic interface design 10th International Symposium on Experimental Robotics (ISER) Conti, F., Khatib, O. SPRINGER-VERLAG BERLIN. 2008: 441–450

    View details for Web of Science ID 000255550200041

  • A hybrid actuation approach for human-friendly robot design IEEE International Conference on Robotics and Automation Shin, D., Sardellitti, I., Khatib, O. IEEE. 2008: 1747–1752

    View details for Web of Science ID 000258095001065

  • Torque-position transformer for task control of position controlled robots IEEE International Conference on Robotics and Automation Khatib, O., Thaulad, P., Yoshikawa, T., Park, J. IEEE. 2008: 1729–1734

    View details for Web of Science ID 000258095001062

  • Identifying physical properties of deformable objects by using particle filters IEEE International Conference on Robotics and Automation Burion, S., Conti, F., Petrovskaya, A., Baur, C., Khatib, O. IEEE. 2008: 1112–1117

    View details for Web of Science ID 000258095000176

  • Continuous control law from unilateral constraints IEEE International Conference on Robotics and Automation Mansard, N., Khatib, O. IEEE. 2008: 3359–3364

    View details for Web of Science ID 000258095002101

  • A unified framework for whole-body humanoid robot control with multiple constraints and contacts 2nd European Robotics Symposium Khatib, O., Sentis, L., Park, J. SPRINGER-VERLAG BERLIN. 2008: 303–312

    View details for Web of Science ID 000255550400031

  • Human Motion Reconstruction by Direct Control of Marker Trajectories 11th International Symposium on Advances in Robot Kinematics Demircan, E., Sentis, L., De Sapio, V., Khatib, O. SPRINGER. 2008: 263–272

    View details for Web of Science ID 000261597700028

  • 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

    View details for DOI 10.1177/0278364907085652

    View details for Web of Science ID 000251085000001

  • A hybrid actuation approach for haptic devices 2nd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems Conti, F., Khatib, O., Baur, C. IEEE COMPUTER SOC. 2007: 367–372

    View details for Web of Science ID 000246105200061

  • A Hybrid Actuation Approach for Haptic Interfaces. Conti, F., Khatib, O., Baur, C. 2007
  • Special Issue on BioRobotics. I. J. Robotic Res. Dario, P., Meldrum, D., R., Khatib, O. 2007; 11-12 (26)
  • Probabilistic estimation of whole body contacts for multi-contact robot control IEEE International Conference on Robotics and Automation Petrovskaya, A., Park, J., Khatib, O. IEEE. 2007: 568–573

    View details for Web of Science ID 000250915300091

  • Human-centered robotics 11th International Conference on Intelligent Engineering Systems Khatib, O. IEEE. 2007: 11–11

    View details for Web of Science ID 000250359600002

  • Air muscle controller design in the Distributed Macro-Mini (DM2) Actuation approach IEEE/RSJ International Conference on Intelligent Robots and Systems Sardellitti, I., Park, J., Shin, D., Khatib, O. IEEE. 2007: 1828–1833

    View details for Web of Science ID 000254073201065

  • 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

    View details for DOI 10.1109/TRO.2006.878787

    View details for Web of Science ID 000241080500010

  • 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

    View details for DOI 10.1007/s11044-006-9017-3

    View details for Web of Science ID 000239300200005

  • A haptic teleoperation approach based on contact force control 9th International Symposium on Experimental Robotics (ISER) Park, J., Khatib, O. SAGE PUBLICATIONS LTD. 2006: 575–91

    View details for DOI 10.1177/0278364906065385

    View details for Web of Science ID 000238146600011

  • Bayesian estimation for autonomous object manipulation based on tactile sensors IEEE International Conference on Robotics and Automation (ICRA) Petrovskaya, A., Khatib, O., Thrun, S., Ng, A. Y. IEEE. 2006: 707–714

    View details for Web of Science ID 000240886901042

  • 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
  • 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 control of kinematically constrained shoulder complexes: Physiological and humanoid examples IEEE International Conference on Robotics and Automation (ICRA) De Sapio, V., Holzbaur, K., Khatib, O. IEEE. 2006: 2952–2959

    View details for Web of Science ID 000240886906039

  • Robust haptic teleoperation of a mobile manipulation platform 9th International Symposium on Experimental Robotics (ISER) Park, J., Khatib, O. SPRINGER-VERLAG BERLIN. 2006: 543–554

    View details for Web of Science ID 000236887500052

  • Predicting reaching postures using a kinematically constrained shoulder model 10th International Symposium on Advances in Robot Kinematics De Sapio, V., Warren, J., Khatib, O. SPRINGER. 2006: 209–218

    View details for Web of Science ID 000239958800023

  • Contact consistent control framework for humanoid robots IEEE International Conference on Robotics and Automation (ICRA) Park, J., Khatib, O. IEEE. 2006: 1963–1969

    View details for Web of Science ID 000240886904026

  • The human frontier: Robotics new quest and challenge 16th Symposium on Theory and Practice of Robots and Manipulators Khatib, O. SPRINGER-VERLAG WIEN. 2006: 5–6

    View details for Web of Science ID 000240912500002

  • A whole-body control framework for humanoids operating in human environments IEEE International Conference on Robotics and Automation (ICRA) Sentis, L., Khatib, O. IEEE. 2006: 2641–2648

    View details for Web of Science ID 000240886905061

  • Concept for coring from a low-mass rover 2006 IEEE Aerospace Conference Backes, P., Khatib, O., Diaz-Calderon, A., Warren, J., Collins, C., Chang, Z. IEEE. 2006: 80–89

    View details for Web of Science ID 000241583100007

  • 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

    View details for DOI 10.1177/02783649505058569

    View details for Web of Science ID 000232274300001

  • 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

    View details for DOI 10.1007/s00371-005-0284-4

    View details for Web of Science ID 000229935100002

  • 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

    View details for DOI 10.1109/TRO.2004.837243

    View details for Web of Science ID 000228335600011

  • 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

    View details for Web of Science ID 000230324900008

  • The Actuation Efficiency, a Measure of Acceleration Capability for Non-Redundant Robotic Manipulators. Bowling, A., Khatib, O. 2005
  • 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
  • Special Issue on the 11th International Symposium on Robotics Research. I. J. Robotic Res. Chatila, R., Dario, P., Khatib, O. 2005; 9 (24)
  • Telepresence and stability analysis for haptic tele-manipulation with short time delay IEEE/RSJ International Conference on Intelligent Robots and Systems Cortesao, R., Park, J., Khatib, O. IEEE. 2005: 3146–3151

    View details for Web of Science ID 000235632103011

  • Operational space control of multibody systems with explicit holonomic constraints IEEE International Conference on Robotics and Automation (ICRA) De Sapio, V., Khatib, O. IEEE. 2005: 2950–2956

    View details for Web of Science ID 000235460102092

  • Control of free-floating humanoid robots through task prioritization IEEE International Conference on Robotics and Automation (ICRA) Sentis, L., Khatib, O. IEEE. 2005: 1718–1723

    View details for Web of Science ID 000235460101083

  • Spanning large workspaces using small haptic devices 1st Joint Eurohaptics Conference/Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems Conti, F., Khatib, O. IEEE COMPUTER SOC. 2005: 183–188

    View details for Web of Science ID 000228426200026

  • Feedforward global/inertial sensor fusion algorithm for accurate global positioning of a mobile robot IEEE/ASME International Conference on Advanced Intelligent Mechatronics Lee, K., Park, J., Khatib, O., Kwon, D. S. IEEE. 2005: 504–509

    View details for Web of Science ID 000232003500086

  • Multi-link multi-contact force control for manipulators IEEE International Conference on Robotics and Automation (ICRA) Park, J., Khatib, O. IEEE. 2005: 3613–3618

    View details for Web of Science ID 000235460103010

  • Playing it safe IEEE ROBOTICS & AUTOMATION MAGAZINE Zinn, M., Khatib, O., Roth, B., Salisbury, J. K. 2004; 11 (2): 12-21

    View details for Web of Science ID 000222429600004

  • A new actuation approach for human friendly robot design 8th International Symposium on Experimental Robotics (ISER 02) Zinn, M., Roth, B., Khatib, O., Salisbury, J. K. SAGE PUBLICATIONS LTD. 2004: 379–98

    View details for DOI 10.1177/0278364904042193

    View details for Web of Science ID 000221631700007

  • Human-centered robotics and interactive haptic simulation 10th International Symposium on Robotics Research (ISRR 2001) Khatib, O., Brock, O. SAGE PUBLICATIONS LTD. 2004: 167–78

    View details for DOI 10.1177/0278364904041325

    View details for Web of Science ID 000188890700007

  • A new actuation approach for human friendly robot design IEEE International Conference on Robotics and Automation Zinn, M., Khatib, O., Roth, B. IEEE. 2004: 249–254

    View details for Web of Science ID 000221794800040

  • Task-Oriented Control of Humanoid Robots Through Prioritization Sentis, L., Khatib, O. 2004
  • 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
  • A New Actuation Approach for Human-friendly Robot Design Zinn, M., Khatib, O., Roth, B. 2004
  • 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
  • Multi-contact compliant motion control for robotic manipulators IEEE International Conference on Robotics and Automation Park, J., Cortesao, R., Khatib, O. IEEE. 2004: 4789–4794

    View details for Web of Science ID 000221794800771

  • Human-like motion from physiologically-based potential energies 9th International Symposium on Advances in Robot Kinematics Khatib, O., Warren, J., De Sapio, V., Sentis, L. SPRINGER. 2004: 145–154

    View details for Web of Science ID 000222855800016

  • Prioritized multi-objective dynamics and control of robots in human environments 4th IEEE/RAS International Conference on Humanoid Robots Sentis, L., Khatib, O. IEEE. 2004: 764–780

    View details for Web of Science ID 000228484200047

  • Human-like motion from physiologically-based potential field 18th World Computer Congress Khatib, O., Warren, J., De Sapio, V., Sentis, L. SPRINGER. 2004: 747–748

    View details for Web of Science ID 000226961300077

  • Robots for the human and interactive simulations 11th World Congress in Mechanism and Machine Science Khatib, O., Brock, O., Chang, K. C., Ruspini, D., Sentis, L., Viji, S. CHINA MACHINE PRESS. 2004: 1572–1576

    View details for Web of Science ID 000222469600326

  • Robust and adaptive teleoperation for compliant motion tasks 11th International Conference on Advanced Robotics (ICAR 2003) Park, J., Cortesao, R., Khatib, O. UNIV COIMBRA, FAC CIENCIAS & TECHNOL. 2003: 513–519

    View details for Web of Science ID 000184782300089

  • 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
  • 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
  • A new actuation approach for human friendly robot design 8th International Symposium on Experimental Robotics (ISER 02) Zinn, M., Khatib, O., Roth, B., Salisbury, J. K. SPRINGER-VERLAG BERLIN. 2003: 113–122

    View details for Web of Science ID 000181801300009

  • Actuation methods for human-centered robotics and associated control challenges 2nd International Workshop on Control Problems in Robotics and Automation Zinn, M., Khatib, O., Roth, B., Salisbury, J. K. SPRINGER-VERLAG BERLIN. 2003: 105–119

    View details for Web of Science ID 000181073300007

  • Non-redundant robotic manipulator acceleration capability and the actuation efficiency measure IEEE/RSJ International Conference on Intelligent Robots and Systems Bowling, A., Khatib, O. IEEE. 2003: 3325–3330

    View details for Web of Science ID 000187883300539

  • Real-time adaptive control for haptic manipulation with active observers IEEE/RSJ International Conference on Intelligent Robots and Systems Cortesao, R., Park, J., Khatib, O. IEEE. 2003: 2938–2943

    View details for Web of Science ID 000187883300476

  • Interactive rendering of deformable objects base on a filling sphere modeling approach 20th IEEE International Conference on Robotics and Automation (ICRA) Conti, F., Khatib, O., Baur, C. IEEE. 2003: 3716–3721

    View details for Web of Science ID 000187419900597

  • Human-centered robotics and interactive haptic simulation 10th International Symposium on Robotics Research (ISRR 2001) Khatib, O., Brock, O., Chang, K. C., Ruspini, D., Sentis, L., Viji, S. SPRINGER-VERLAG BERLIN. 2003: 239–253

    View details for Web of Science ID 000183013700016

  • Dynamic loading criteria in actuator selection for desired dynamic performance ADVANCED ROBOTICS Bowling, A., Khatib, O. 2003; 17 (7): 641-656

    View details for Web of Science ID 000185703400005

  • Elastic strips: A framework for motion generation in human environments INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Brock, O., Khatib, O. 2002; 21 (12): 1031-1052

    View details for Web of Science ID 000181468600002

  • 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

    View details for Web of Science ID 000177577600016

  • 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
  • Simulation with contact for haptic interaction TOUCH IN VIRTUAL ENVIRONMENTS Ruspini, D., Khatib, O. 2002: 32-46

    View details for Web of Science ID 000176954200002

  • The Operational Space Formulation implementation to aircraft canopy polishing using a mobile manipulator 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS Jamisola, R., Ang, M. H., Oetomo, D., Khatib, O., Lim, T. M., Lim, S. Y. 2002: 400-405

    View details for Web of Science ID 000178573200064

  • Integration of torque controlled arm with velocity controlled base for mobile manipulation ROMANSY 14 - THEORY AND PRACTICE OF ROBOTS AND MANIPULATORS Oetomo, D., Ang, M. H., Jamisola, R., Khatib, O. 2002: 189-199

    View details for Web of Science ID 000183594700022

  • Towards A Human-Centered Intrinsically- Safe Robotic Manipulator Zinn, M., Khatib, O., Roth, B., Salisbury, J., K. 2002
  • 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
  • Task-Consistent Obstacle Avoidance for Mobile Manipulation Brock, O., Khatib, O., Viji, S. 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
  • Reactive Collision Avoidance for Navigation with Dynamic Constraints Minguez, J., Montano, L., Khatib, O. 2002
  • Human-centered robotics and haptic interaction: From assistance to surgery, the emerging applications 3rd International Workshop on Robot Motion and Control Khatib, O. POZNAN UNIV TECHNOLOGY. 2002: 137–139

    View details for Web of Science ID 000181863000023

  • Actuator selection for desired dynamic performance IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2002) Bowling, A., Khatib, O. IEEE. 2002: 1966–1973

    View details for Web of Science ID 000179289100321

  • Task-consistent obstacle avoidance and motion behavior for mobile manipulation 19th IEEE International Conference on Robotics and Automation (ICRA) Brock, O., Khatib, O., Viji, S. IEEE. 2002: 388–393

    View details for Web of Science ID 000178573200062

  • Haptic display for human interaction with virtual dynamic environments JOURNAL OF ROBOTIC SYSTEMS Ruspini, D., Khatib, O. 2001; 18 (12): 769-783

    View details for Web of Science ID 000172540300011

  • Efficient recursive algorithm for the operational space inertia matrix of branching mechanisms ADVANCED ROBOTICS Chang, K. S., Khatib, O. 2001; 14 (8): 703-715

    View details for Web of Science ID 000168417600004

  • 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
  • Haptically Augmented Teleoperation Turro, N., Khatib, O., Coste-Maniere, E. 2001
  • 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
  • Haptically augmented teleoperation 7th International Symposium on Experimental Robotics Turro, N., Khatib, O. SPRINGER-VERLAG BERLIN. 2001: 1–10

    View details for Web of Science ID 000175560500001

  • Human-centered robotics and haptic interactions 2nd International Workshop on Robot Motion and Control Khatib, O. WYDAWNICTWO POLITECHNIKI POZNANSKIEJ. 2001: 11–12

    View details for Web of Science ID 000175367900001

  • 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

    View details for Web of Science ID 000089992700007

  • A powered-caster holonomic robotic vehicle for mobile manipulation tasks 13th CISM IFoMM Romansy Symposium Holmberg, R., Khatib, O. SPRINGER-VERLAG WIEN. 2000: 157–67

    View details for Web of Science ID 000170385500016

  • A Powered-Caster Holonomic Robotic Vehicle forMobile Manipulation Tasks Holmberg, R., 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
  • Integrated Planning and Execution: Elastic Strips Brock, O., Khatib, O. 2000
  • High-Speed Navigation Using the Global Dynamic Window Approach Brock, O., Khatib, O. 2000
  • Robots in Human Environments Khatib, O. 2000
  • Collision/contact models for dynamic simulation and haptic interaction 9th International Symposium of Robotics Research (ISRR 99) RUSPINI, D. C., Khatib, O. SPRINGER-VERLAG LONDON LTD. 2000: 185–194

    View details for Web of Science ID 000087440500023

  • A framework for multi-contact multi-body dynamic simulation and haptic display 7th International Symposium on Advances in Robot Kinematics Ruspini, D., Khatib, O. SPRINGER. 2000: 175–186

    View details for Web of Science ID 000166633200019

  • A framework for multi-contact multi-body dynamic simulation and haptic display IEEE/Robotics-Society-of-Japan International Conference on Intelligent Robots and Systems (IROS 2000) Ruspini, D., Khatib, O. IEEE. 2000: 1322–1327

    View details for Web of Science ID 000166948600214

  • A portable programming framework 6th International Symposium on Experimental Robotics Coste-Maniere, E., Turro, N., Khatib, O. SPRINGER-VERLAG LONDON LTD. 2000: 379–389

    View details for Web of Science ID 000086068500037

  • Elastic strips: A framework for integrated planning and execution 6th International Symposium on Experimental Robotics Brock, O., Khatib, O. SPRINGER-VERLAG LONDON LTD. 2000: 329–338

    View details for Web of Science ID 000086068500032

  • 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

    View details for Web of Science ID 000081048600005

  • Mobile manipulation: The robotic assistant ROBOTICS AND AUTONOMOUS SYSTEMS Khatib, O. 1999; 26 (2-3): 175-183

    View details for Web of Science ID 000079653000007

  • High-speed navigation using the global dynamic window approach International Conference on Robotics and Automation (ICRA '99) Brock, O., Khatib, O. IEEE. 1999: 341–346

    View details for Web of Science ID 000081625700057

  • 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
  • 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
  • Development of a Holonomic Mobile Robot for Mobile Manipulation Tasks Holmberg, R., 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
  • Robots in Human Environments Khatib, O., Yokoi, K., Brock, O., Chang, K., Casal, A. 1999
  • Efficient Algorithm for Extended Operational Space Inertia Matrix Chang, K., C., Khatib, O. 1999
  • 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
  • A general contact model for dynamically-decoupled force/motion control International Conference on Robotics and Automation (ICRA '99) Featherstone, R., Thiebaut, S. S., Khatib, O. IEEE. 1999: 3281–3286

    View details for Web of Science ID 000081625700521

  • The motion isotropy hypersurface: A characterization of acceleration capability IEEE/RSJ International Conference on Intelligent Robots and Systems Bowling, A., Khatib, O. IEEE. 1998: 965–971

    View details for Web of Science ID 000077035300153

  • Hardware-software run-time systems and robotics: A case study 24th EUROMICRO Conference Mooney, V. J., Ruspini, D., Khatib, O., De Micheli, G. IEEE COMPUTER SOC. 1998: 162–167

    View details for Web of Science ID 000075882900028

  • 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
  • Mobile Manipulator System Autonomous Robotic Systems Khatib, O. edited by de Almeida, A., T., Khatib, O. Springer-Verlag. 1998: 141–148
  • Autonomous Robotic Systems de Almeida, A., T. Springer-Verlag. 1998
  • A general contact model for dynamically-decoupled force/motion control 5th Intenational Symposium pm Experimental Robotics (ISER) Featherstone, R., Sonck, S., Khatib, O. SPRINGER-VERLAG LONDON LTD. 1998: 128–139

    View details for Web of Science ID 000087841800011

  • Dynamic models for haptic rendering systems 6th International Symposium on Advances in Robot Kinematics Ruspini, D., Khatib, O. SPRINGER. 1998: 523–532

    View details for Web of Science ID 000079126800053

  • Executing motion plans for robots with many degrees of freedom in dynamic environments IEEE International Conference on Robotics and Automation Brock, O., Khatib, O. IEEE. 1998: 1–6

    View details for Web of Science ID 000074368900001

  • Cooperative tasks in mobile manipulation systems IFAC Workshop on Intelligent Components for Vehicles Khatib, O., Yokoi, K., Casal, A. PERGAMON PRESS LTD. 1998: 245–250

    View details for Web of Science ID 000078240200042

  • Modeling and learning robot manipulation strategies 5th Intenational Symposium pm Experimental Robotics (ISER) Liu, J. M., Tang, Y. Y., Khatib, O. SPRINGER-VERLAG LONDON LTD. 1998: 687–700

    View details for Web of Science ID 000087841800057

  • Robot planning and control ROBOTICS AND AUTONOMOUS SYSTEMS Khatib, O., Quinlan, S., Williams, D. 1997; 21 (3): 249-261

    View details for Web of Science ID A1997YH06500005

  • 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

    View details for Web of Science ID A1997WW38700003

  • Design of non-redundant manipulators for optimal dynamic performance 8th International Conference on Advanced Robotics (ICAR 97) Bowling, A., Khatib, O. IEEE. 1997: 865–872

    View details for Web of Science ID A1997BJ29H00131

  • Elastic Strips: Real-Time Path Modification for Mobile Manipulation Brock, O., 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
  • The Stanford Robotic Platforms Khatib, O., Yokoi, K., Chang, K., Casal, A. 1997
  • Mobile Robotic Manipulation Khatib, O. 1997
  • Experimental Robotics IV Khatib, O., Salisbury Jr., J., K. 1997
  • 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
  • Design of macro/mini manipulators for optimal dynamic performance 1997 IEEE International Conference on Robotics and Automation (ICRA97) - Teaming to Make an Impact Bowling, A., Khatib, O. IEEE. 1997: 449–454

    View details for Web of Science ID A1997BJ42X00072

  • Coordination and decentralized cooperation of multiple mobile manipulators 2nd World Automation Congress (WAC 96) Khatib, O., Yokoi, K., Chang, K., Ruspini, D., Holmberg, R., Casal, A. JOHN WILEY & SONS INC. 1996: 755–64

    View details for Web of Science ID A1996VL83200007

  • The impact of redundancy on the dynamic performance of robots LABORATORY ROBOTICS AND AUTOMATION Khatib, O. 1996; 8 (1): 37-48

    View details for Web of Science ID A1996UN16900006

  • 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
  • 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
  • Decentralized Cooperation of Multiple Mobile Manipulators Khatib, O., Yokoi, K., Chang, K., Ruspini, D., Holmberg, R., Casal, A. 1996
  • Mobile Manipulator Systems Khatib, O. 1996
  • The Robotic Assistant Khatib, O., Yokoi, K., Chang, K., Ruspini, D., Holmberg, R., Casal, A. 1996
  • Modular decomposition for optimal dynamic design of redundant macro/mini manipulators 5th International Symposium on Advances in Robot Kinematics Bowling, A., Khatib, O. KLUWER ACADEMIC PUBL. 1996: 29–38

    View details for Web of Science ID A1996BH34D00003

  • Haptic interaction in virtual environments 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems - Innovative Robotics for Real-World Applications (IROS 97) RUSPINI, D. C., Kolarov, K., Khatib, O. IEEE. 1996: 128–133

    View details for Web of Science ID 000072064200019

  • Vehicle/arm coordination and multiple mobile manipulator decentralized cooperation 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems - Robotic Intelligence Interacting with Dynamic Worlds (IROS 96) Khatib, O., Yokoi, K., Chang, K., Ruspini, D., Holmberg, R., Casal, A. IEEE. 1996: 546–553

    View details for Web of Science ID A1996BH13L00076

  • Decentralized cooperation between multiple manipulators 5th IEEE International Workshop on Robot and Human Communication (RO-MAN 96) Khatib, O., Yokoi, K., Chang, K., Ruspini, D., Holmberg, R., Casal, A. I E E E. 1996: 183–188

    View details for Web of Science ID A1996BH08C00031

  • Design of a digital adaptive algorithm for torque-controlled robotic joints 6th Cairo-University International MDP Conference - Current Advances in Mechanical Design and Production VI (MDP-6) ABDELMAGID, Y., Khatib, O. PERGAMON PRESS LTD. 1996: 461–468

    View details for Web of Science ID A1996BF88E00039

  • Optimization of the inertial and acceleration characteristics of manipulators IEEE International Conference on Robotics and Automation Khatib, O., Bowling, A. IEEE. 1996: 2883–2889

    View details for Web of Science ID A1996BF68P00453

  • DESIGN AND DEVELOPMENT OF HIGH-PERFORMANCE TORQUE-CONTROLLED JOINTS IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION VISCHER, D., Khatib, O. 1995; 11 (4): 537-544

    View details for Web of Science ID A1995RR51100006

  • INERTIAL PROPERTIES IN ROBOTIC MANIPULATION - AN OBJECT-LEVEL FRAMEWORK INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Khatib, O. 1995; 14 (1): 19-36

    View details for Web of Science ID A1995QH13700003

  • Extended operational space formulation for serial-to-parallel chain (branching) manipulators 1995 IEEE International Conference on Robotics and Automation RUSSAKOW, J., Khatib, O., Rock, S. M. I E E E. 1995: 1056–1061

    View details for Web of Science ID A1995BD82F00166

  • 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
  • Inertial Properties in Robotics Manipulation: An Object-Level Framework International Journal of Robotics Research Khatib, O. 1995; 14 (1): 19-36
  • 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
  • Multi-Grasp Manipulation Williams, D., Khatib, O. 1995
  • Design and Development of High Performance Torque Controlled Joints IEEE Transactions on Robotics and Automation Vischer, D., Khatib, O. 1995; 11 (4): 537-544
  • Mobile robotic manipulation 26th International Symposium on Industrial Robots - Competitive Automation: New Frontiers, New Opportunities Khatib, O. MECHANICAL ENGINEERING PUBL. 1995: 7–12

    View details for Web of Science ID A1995BE97F00002

  • Manipulator control at kinematic singularities: A dynamically consistent strategy 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems - Human Robot Interaction and Cooperative Robots Chang, K. S., Khatib, O. I E E E, COMPUTER SOC PRESS. 1995: 84–88

    View details for Web of Science ID A1995BE13L00014

  • Analysis of the acceleration characteristics of non-redundant manipulators 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems - Human Robot Interaction and Cooperative Robots Bowling, A., Khatib, O. I E E E, COMPUTER SOC PRESS. 1995: 323–328

    View details for Web of Science ID A1995BE13K00051

  • Optimization of the inertial and acceleration characteristics of non-redundant manipulators 3rd Conference on Mechatronics and Robotics - From Design Methods to Industrial Applications Khatib, O., Bowling, A. B. B G TEUBNER VERLAGS GESELL. 1995: 500–510

    View details for Web of Science ID A1995BE55D00037

  • DYNAMIC SIMULATION OF INTERACTIVE ROBOTIC ENVIRONMENT 1994 IEEE International Conference on Robotics and Automation Lee, P. U., RUSPINI, D. C., Khatib, O. IEEE COMPUTER SOC. 1994: 1147–1152

    View details for Web of Science ID A1994BA72M00169

  • 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
  • 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
  • Sensor-Based Robotic Manipulation Khatib, O. 1994
  • Towards Integrated Planning and Control Khatib, O. 1994
  • A DYNAMICALLY CONSISTENT STRATEGY FOR MANIPULATOR CONTROL AT SINGULARITIES 4th Workshop on Advances in Robot Kinematics/1st Workshop on Computational Geometry in Kinematics Chang, K. S., Khatib, O. SPRINGER. 1994: 221–228

    View details for Web of Science ID A1994BB28W00022

  • THE OPERATIONAL SPACE FRAMEWORK JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING Khatib, O. 1993; 36 (3): 277-287

    View details for Web of Science ID A1993MD97300001

  • Towards Real-Time Execution of Motion Tasks Quinlan, S., Khatib, O. edited by Chatila, R., Hirzinger, G. 1993
  • ELASTIC BANDS - CONNECTING PATH PLANNING AND CONTROL 1993 IEEE INTERNATIONAL CONF ON ROBOTICS AND AUTOMATION Quinlan, S., Khatib, O. I E E E, COMPUTER SOC PRESS. 1993: B802–B807

    View details for Web of Science ID A1993BY79J00285

  • 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
  • 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
  • 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
  • Robotics Review 2 Khatib, O., Craig, J., Lozano-Perez, T. MIT Press. 1992
  • Inertial Properties in Robotics Manipulation Department of Computer Science Khatib, O. 1992
  • 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
  • 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
  • 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
  • Performance Evaluation of Force/Torque Feedback Control Methodologies Vischer, D., Khatib, O. 1990
  • 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

    View details for Web of Science ID A1989AH26200003

  • The Robotics Review 1 Khatib, O., Craig, J., Lozano-Perez, T. MIT Press. 1989
  • 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
  • OBJECT LOCALIZATION WITH MULTIPLE SENSORS INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Shekhar, S., Khatib, O., Shimojo, M. 1988; 7 (6): 34-44

    View details for Web of Science ID A1988R173700004

  • Object Manipulation in a Multi-Effector Robot System Khatib, O. 1988
  • The Augmented Object and Reduced Effective Inertia in Robot Systems Khatib, O. 1988
  • Force-Based Motion Control of Robot Manipulators Khatib, O. 1988
  • 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
  • Inertial Characteristics and Dextrous Dynamic Coordination of Macro/Micro-Manipulator Systems Khatib, O. 1988
  • Kinematic Structure for a Force Controlled Redundant Manipulator Roth, B., Raghavan, M., Khatib, O., Waldron, K. 1988
  • 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

    View details for Web of Science ID A1987G396500005

  • 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
  • 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
  • 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
  • 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
  • REAL-TIME OBSTACLE AVOIDANCE FOR MANIPULATORS AND MOBILE ROBOTS INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Khatib, O. 1986; 5 (1): 90-98

    View details for Web of Science ID A1986C354100006

  • 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
  • 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
  • Motion and Force Control of Robot Manipulators Khatib, O., Burdick, J. 1986
  • Force Control Research at Stanford Intelligent Task Automation Interim Report, Honeywell Inc., Technology Strategy Center Burdick, J., Khatib, O. 1985: 6/33-6/42
  • 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
  • COSMOS Control System Intelligent Task Automation Interim Report, Honeywell Inc., Technology Strategy Center Burdick, J., Khatib, O. 1984: 6/10-18
  • Real-Time Control of Manipulators in Operational Space Khatib, O. 1984
  • Force Control Implementation in COSMOS Intelligent Task Automation Interim Report, Honeywell Inc., Technology Strategy Center Burdick, J., Khatib, O. 1984: 6/9-6/13
  • Robotics in Three Acts Burdick, J., Craig, J., Fearing, R., Khatib, O., Salisbury, K. 1984
  • 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
  • Cartesian Path Planning and Estimation Intelligent Task Automation Interim Report, Honeywell Inc., Technology Strategy Center Burdick, J., Khatib, O. 1983: 5/59-5/83
  • 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
  • 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
  • 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.
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