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)

2016-17 Courses


All Publications


  • 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.
  • 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
  • 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
  • Haptic fMRI : Accurately Estimating Neural Responses in Motor, Pre-Motor, and Somatosensory Cortex During Complex Motor Tasks 2014 36TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC) Menon, S., Yu, M., Kay, K., Khatib, O. 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 2014 36TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC) Menon, S., Quigley, P., Yu, M., Khatib, O. 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
  • Haptic fMRI : Combining Functional Neuroimaging with Haptics for Studying the Brain's Motor Control Representation 2013 35TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC) Menon, S., Brantner, G., Aholt, C., Kay, K., Khatib, O. 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 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) Kwon, J., Khatib, O. 2013: 5365-5372
  • Virtual Whiskers - Highly Responsive Robot Collision Avoidance 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) Schlegl, T., Kroeger, T., Gaschler, A., Khatib, O., Zangl, H. 2013: 5373-5379
  • Towards Online Trajectory Generation Considering Robot Dynamics and Torque Limits 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) Katzschmann, R., Kroeger, T., Asfour, T., Khatib, O. 2013: 5644-5651
  • Romansy 19 - Robot Design Dynamics, and Contol, Springer. edited by Padois, V., Bidaud, P., Khatib, O. CISM 544, Springer. 2013
  • Experimental Robotics: The 12th International Symposium on Experimental Robotics edited by Khatib, O., Kumar, V., Sukhatme, G. 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
  • 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
  • Muscle Force Transmission to Operational Space Accelerations During Elite Golf Swings 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) Demircan, E., Besier, T. F., Khatib, O. 2012: 1464-1469
  • 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 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) Flacco, F., De Luca, A., Khatib, O. 2012: 285-292
  • A Depth Space Approach to Human-Robot Collision Avoidance 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) Flacco, F., Kroeger, T., De Luca, A., Khatib, O. 2012: 338-345
  • Prioritized Multi-Task Motion Control of Redundant Robots under Hard Joint Constraints 2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) Flacco, F., De Luca, A., Khatib, O. 2012: 3970-3977
  • Elastic Strips: Implementation on a Physical Humanoid Robot 2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) Kwon, J., Yoshikawa, T., Khatib, O. 2012: 3369-3376
  • Global Localization of Objects via Touch IEEE TRANSACTIONS ON ROBOTICS Petrovskaya, A., Khatib, O. 2011; 27 (3): 569-585
  • Grasping with Application to an Autonomous Checkout Robot 2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) Klingbeil, E., Rao, D., Carpenter, B., Ganapathi, V., Ng, A. Y., 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
  • A Depth Space Approach to Human-Robot Collision Avoidance. Flacco, F., Kroger, T., Luca, A., De, Khatib, O. 2011
  • Instantaneous Stiffness Effects on Impact Forces in Human-Friendly Robots 2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS Shin, D., Quek, Z. F., Phan, S., Cutkosky, M., Khatib, O. 2011: 2998-3003
  • An Open Source Extensible Software Package to Create Whole-Body Compliant Skills in Personal Mobile Manipulators 2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS Philippsen, R., Sentis, L., Khatib, O. 2011: 1036-1041
  • Variable Radius Pulley Design Methodology for Pneumatic Artificial Muscle-based Antagonistic Actuation Systems 2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS Shin, D., Yeh, X., Khatib, O. 2011
  • 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
  • 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
  • The Robotics Community IEEE ROBOTICS & AUTOMATION MAGAZINE Khatib, O., Christensen, H. 2010; 17 (1): 11-12
  • Analysis of Torque Capacities in Hybrid Actuation for Human-Friendly Robot Design 2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) Shin, D., Seitz, F., Khatib, O., Cutkosky, M. 2010: 799-804
  • 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 SIMULATION, MODELING, AND PROGRAMMING FOR AUTONOMOUS ROBOTS Khatib, O. 2010; 6472: 3-4
  • 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 ADVANCES IN ROBOT KINEMATICS: MOTION IN MAN AND MACHINE Demircan, E., Besier, T., Menon, S., Khatib, O. 2010: 283-292
  • A New Actuation Approach for Haptic Interface Design Conti, F., Khatib, O. SAGE PUBLICATIONS LTD. 2009: 834-848
  • 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

  • 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
  • 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
  • Large Scale Multi-Robot Coordination Under Network and Geographical Constraints ISIE: 2009 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS Sentis, L., Mintz, M., Ayyagari, A., Battles, C., Ying, S., Khatib, O. 2009: 1035-1042
  • Design and Control of a Bio-inspired Human-Friendly Robot EXPERIMENTAL ROBOTICS Shin, D., Sardellitti, I., Park, Y., Khatib, O., Cutkosky, M. 2009; 54: 43-52
  • Design Methodologies of a Hybrid Actuation Approach for a Human-Friendly Robot ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7 Shin, D., Khatib, O., Cutkosky, M. 2009: 3568-3573
  • Compliant Humanoid Robot Control by the Torque Transformer 2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS Yoshikawa, T., Khatib, O. 2009: 3011-3018
  • 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
  • Human Motion Reconstruction by Direct Control of Marker Trajectories ADVANCES IN ROBOT KINEMATICS: ANALYSIS AND DESIGN Demircan, E., Sentis, L., De Sapio, V., Khatib, O. 2008: 263-272
  • 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)
  • A new actuation approach for haptic interface design EXPERIMENTAL ROBOTICS Conti, F., Khatib, O. 2008; 39: 441-450
  • A hybrid actuation approach for human-friendly robot design 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 Shin, D., Sardellitti, I., Khatib, O. 2008: 1747-1752
  • Torque-position transformer for task control of position controlled robots 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 Khatib, O., Thaulad, P., Yoshikawa, T., Park, J. 2008: 1729-1734
  • Identifying physical properties of deformable objects by using particle filters 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 Burion, S., Conti, F., Petrovskaya, A., Baur, C., Khatib, O. 2008: 1112-1117
  • Continuous control law from unilateral constraints 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 Mansard, N., Khatib, O. 2008: 3359-3364
  • A unified framework for whole-body humanoid robot control with multiple constraints and contacts EUROPEAN ROBOTICS SYMPOSIUM 2008 Khatib, O., Sentis, L., Park, J. 2008; 44: 303-312
  • Large workspace haptic devices - A new actuation approach Zinn, M., Khatib, O., Roth, B., Salisbury, J. K. IEEE COMPUTER SOC. 2008: 185-192
  • Results of coring from a low mass rover 2008 IEEE AEROSPACE CONFERENCE, VOLS 1-9 Backes, P., Helmick, D., Bajracharya, M., Khatib, O., Padois, V., Warren, J. 2008: 53-59
  • 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
  • A hybrid actuation approach for haptic devices WORLD HAPTICS 2007: SECOND JOINT EUROHAPTICS CONFERENCE AND SYMPOSIUM ON HAPTIC INTERFACES FOR VIRTUAL ENVIRONMENT AND TELEOPERATOR SYSTEMS, PROCEEDINGS Conti, F., Khatib, O., Baur, C. 2007: 367-372
  • 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 PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 Petrovskaya, A., Park, J., Khatib, O. 2007: 568-573
  • Human-centered robotics INES 2007: 11TH INTERNATIONAL CONFERENCE ON INTELLIGENT ENGINEERING SYSTEMS, PROCEEDINGS Khatib, O. 2007: 11-11
  • Air muscle controller design in the Distributed Macro-Mini (DM2) Actuation approach 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 Sardellitti, I., Park, J., Shin, D., Khatib, O. 2007: 1828-1833
  • 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
  • A haptic teleoperation approach based on contact force control Park, J., Khatib, O. SAGE PUBLICATIONS LTD. 2006: 575-591
  • Concept for coring from a low-mass rover 2006 IEEE AEROSPACE CONFERENCE, VOLS 1-9 Backes, P., Khatib, O., Diaz-Calderon, A., Warren, J., Collins, C., Chang, Z. 2006: 80-89
  • 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 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 De Sapio, V., Holzbaur, K., Khatib, O. 2006: 2952-2959
  • Robust haptic teleoperation of a mobile manipulation platform EXPERIMENTAL ROBOTICS IX Park, J., Khatib, O. 2006; 21: 543-554
  • Predicting reaching postures using a kinematically constrained shoulder model ADVANCES IN ROBOT KINEMATICS: MECHANISMS AND MOTION De Sapio, V., Warren, J., Khatib, O. 2006: 209-218
  • Contact consistent control framework for humanoid robots 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 Park, J., Khatib, O. 2006: 1963-1969
  • The human frontier: Robotics new quest and challenge ROMANSY 16: ROBOT DESIGN, DYNAMICS , AND CONTROL Khatib, O. 2006: 5-6
  • A whole-body control framework for humanoids operating in human environments 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 Sentis, L., Khatib, O. 2006: 2641-2648
  • Bayesian estimation for autonomous object manipulation based on tactile sensors 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 Petrovskaya, A., Khatib, O., Thrun, S., Ng, A. Y. 2006: 707-714
  • 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
  • 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
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  • 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)
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  • Control of free-floating humanoid robots through task prioritization 2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 Sentis, L., Khatib, O. 2005: 1718-1723
  • Spanning large workspaces using small haptic devices WORLD HAPTICS CONFERENCE: FIRST JOINT EUROHAPTICS CONFERENCE AND SYMPOSIUM ON HAPTIC INTERFACES FOR VIRUTUAL ENVIRONMENT AND TELEOPERATOR SYSTEMS, PROCEEDINGS Conti, F., Khatib, O. 2005: 183-188
  • Feedforward global/inertial sensor fusion algorithm for accurate global positioning of a mobile robot 2005 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1 AND 2 Lee, K., Park, J., Khatib, O., Kwon, D. S. 2005: 504-509
  • Multi-link multi-contact force control for manipulators 2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 Park, J., Khatib, O. 2005: 3613-3618
  • Operational space control of multibody systems with explicit holonomic constraints 2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 De Sapio, V., Khatib, O. 2005: 2950-2956
  • Playing it safe IEEE ROBOTICS & AUTOMATION MAGAZINE Zinn, M., Khatib, O., Roth, B., Salisbury, J. K. 2004; 11 (2): 12-21
  • 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
  • A new actuation approach for human friendly robot design 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS Zinn, M., Khatib, O., Roth, B. 2004: 249-254
  • 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 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS Park, J., Cortesao, R., Khatib, O. 2004: 4789-4794
  • Prioritized multi-objective dynamics and control of robots in human environments 2004 4TH IEEE/RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS, VOLS 1 AND 2, PROCEEDINGS Sentis, L., Khatib, O. 2004: 764-780
  • Human-like motion from physiologically-based potential energies ON ADVANCES IN ROBOT KINEMATICS Khatib, O., Warren, J., De Sapio, V., Sentis, L. 2004: 145-154
  • Human-like motion from physiologically-based potential field BUILDING THE INFORMATION SOCIETY Khatib, O., Warren, J., De Sapio, V., Sentis, L. 2004; 156: 747-748
  • Robots for the human and interactive simulations ELEVENTH WORLD CONGRESS IN MECHANISM AND MACHINE SCIENCE, VOLS 1-5, PROCEEDINGS Khatib, O., Brock, O., Chang, K. C., Ruspini, D., Sentis, L., Viji, S. 2004: 1572-1576
  • Interactive rendering of deformable objects base on a filling sphere modeling approach 2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS Conti, F., Khatib, O., Baur, C. 2003: 3716-3721
  • Teleoperation for Compliant Motion Task Park, J., Cortesao, R., Khatib, O. 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
  • Non-redundant robotic manipulator acceleration capability and the actuation efficiency measure IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 Bowling, A., Khatib, O. 2003: 3325-3330
  • Human-centered robotics and interactive haptic simulation ROBOTICS RESEARCH Khatib, O., Brock, O., Chang, K. C., Ruspini, D., Sentis, L., Viji, S. 2003; 6: 239-253
  • Dynamic loading criteria in actuator selection for desired dynamic performance ADVANCED ROBOTICS Bowling, A., Khatib, O. 2003; 17 (7): 641-656
  • Interactive rendering of deformable objects based on a filling sphere modeling approach Conti, F., Khatib, O., Baur, C. 2003
  • A new actuation approach for human friendly robot design Zinn, M., Khatib, O., Roth, B., Salisbury, J. K. SPRINGER-VERLAG BERLIN. 2003: 113-122
  • Actuation methods for human-centered robotics and associated control challenges Zinn, M., Khatib, O., Roth, B., Salisbury, J. K. SPRINGER-VERLAG BERLIN. 2003: 105-119
  • Robust and adaptive teleoperation for compliant motion tasks PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3 Park, J., Cortesao, R., Khatib, O. 2003: 513-519
  • Real-time adaptive control for haptic manipulation with active observers IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 Cortesao, R., Park, J., Khatib, O. 2003: 2938-2943
  • 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
  • Human-centered robotics and haptic interaction: From assistance to surgery, the emerging applications ROMOCO'02: PROCEEDINGS OF THE THIRD INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL Khatib, O. 2002: 137-139
  • 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
  • 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
  • Reactive Collision Avoidance for Navigation with Dynamic Constraints Minguez, J., Montano, L., Khatib, O. 2002
  • Actuator selection for desired dynamic performance 2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS Bowling, A., Khatib, O. 2002: 1966-1973
  • Task-consistent obstacle avoidance and motion behavior for mobile manipulation 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS Brock, O., Khatib, O., Viji, S. 2002: 388-393
  • Haptic display for human interaction with virtual dynamic environments JOURNAL OF ROBOTIC SYSTEMS Ruspini, D., Khatib, O. 2001; 18 (12): 769-783
  • Efficient recursive algorithm for the operational space inertia matrix of branching mechanisms ADVANCED ROBOTICS Chang, K. S., Khatib, O. 2001; 14 (8): 703-715
  • 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 EXPERIMENTAL ROBOTICS VII Turro, N., Khatib, O. 2001; 271: 1-10
  • Human-centered robotics and haptic interactions ROMOCO'01: PROCEEDINGS OF THE SECOND INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL Khatib, O. 2001: 11-12
  • 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
  • A framework for multi-contact multi-body dynamic simulation and haptic display 2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS Ruspini, D., Khatib, O. 2000: 1322-1327
  • 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
  • Integrated Planning and Execution: Elastic Strips Brock, O., Khatib, O. 2000
  • Collision/contact models for dynamic simulation and haptic interaction ROBOTICS RESEARCH RUSPINI, D. C., Khatib, O. 2000: 185-194
  • A framework for multi-contact multi-body dynamic simulation and haptic display ADVANCES IN ROBOT KINEMATICS Ruspini, D., Khatib, O. 2000: 175-186
  • A portable programming framework EXPERIMENTAL ROBOTICS VI Coste-Maniere, E., Turro, N., Khatib, O. 2000; 250: 379-389
  • Elastic strips: A framework for integrated planning and execution EXPERIMENTAL ROBOTICS VI Brock, O., Khatib, O. 2000; 250: 329-338
  • Robots in Human Environments Khatib, O. 2000
  • A powered-caster holonomic robotic vehicle for mobile manipulation tasks ROMANSY 13 - THEORY AND PRACTICE OF ROBOTS AND MANIPULATORS Holmberg, R., Khatib, O. 2000: 157-167
  • 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
  • Efficient Algorithm for Extended Operational Space Inertia Matrix Chang, K., C., Khatib, O. 1999
  • 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
  • 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
  • The Stanford Robotics Platforms 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
  • 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
  • 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
  • High-speed navigation using the global dynamic window approach ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS Brock, O., Khatib, O. 1999: 341-346
  • A general contact model for dynamically-decoupled force/motion control ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS Featherstone, R., Thiebaut, S. S., Khatib, O. 1999: 3281-3286
  • Development of a Holonomic Mobile Robot for Mobile Manipulation Tasks Holmberg, R., Khatib, O. 1999
  • Mobile Manipulator System Autonomous Robotic Systems Khatib, O. edited by de Almeida, A., T., Khatib, O. Springer-Verlag. 1998: 141-148
  • 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
  • Autonomous Robotic Systems de Almeida, A., T. Springer-Verlag. 1998
  • A general contact model for dynamically-decoupled force/motion control EXPERIMENTAL ROBOTICS V Featherstone, R., Sonck, S., Khatib, O. 1998; 232: 128-139
  • Dynamic models for haptic rendering systems ADVANCES IN ROBOT KINEMATICS: ANALYSIS AND CONTROL Ruspini, D., Khatib, O. 1998: 523-532
  • Executing motion plans for robots with many degrees of freedom in dynamic environments 1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 Brock, O., Khatib, O. 1998: 1-6
  • Cooperative tasks in mobile manipulation systems INTELLIGENT COMPONENTS FOR VEHICLES Khatib, O., Yokoi, K., Casal, A. 1998: 245-250
  • Modeling and learning robot manipulation strategies EXPERIMENTAL ROBOTICS V Liu, J. M., Tang, Y. Y., Khatib, O. 1998; 232: 687-700
  • The motion isotropy hypersurface: A characterization of acceleration capability 1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3 Bowling, A., Khatib, O. 1998: 965-971
  • 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
  • Design of non-redundant manipulators for optimal dynamic performance 8TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, 1997 PROCEEDINGS - ICAR'97 Bowling, A., Khatib, O. 1997: 865-872
  • 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
  • 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 - PROCEEDINGS, VOLS 1-4 Bowling, A., Khatib, O. 1997: 449-454
  • 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
  • Optimization of the inertial and acceleration characteristics of manipulators 1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, VOLS 1-4 Khatib, O., Bowling, A. 1996: 2883-2889
  • 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
  • The Robotic Assistant Khatib, O., Yokoi, K., Chang, K., Ruspini, D., Holmberg, R., Casal, A. 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
  • Modular decomposition for optimal dynamic design of redundant macro/mini manipulators RECENT ADVANCES IN ROBOT KINEMATICS Bowling, A., Khatib, O. 1996: 29-38
  • Haptic interaction in virtual environments IROS '97 - PROCEEDINGS OF THE 1997 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOT AND SYSTEMS: INNOVATIVE ROBOTICS FOR REAL-WORLD APPLICATIONS, VOLS 1-3 RUSPINI, D. C., Kolarov, K., Khatib, O. 1996: 128-133
  • Vehicle/arm coordination and multiple mobile manipulator decentralized cooperation IROS 96 - PROCEEDINGS OF THE 1996 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - ROBOTIC INTELLIGENCE INTERACTING WITH DYNAMIC WORLDS, VOLS 1-3 Khatib, O., Yokoi, K., Chang, K., Ruspini, D., Holmberg, R., Casal, A. 1996: 546-553
  • Decentralized cooperation between multiple manipulators RO-MAN '96 - 5TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN COMMUNICATION, PROCEEDINGS Khatib, O., Yokoi, K., Chang, K., Ruspini, D., Holmberg, R., Casal, A. 1996: 183-188
  • Design of a digital adaptive algorithm for torque-controlled robotic joints CURRENT ADVANCES IN MECHANICAL DESIGN AND PRODUCTION VI ABDELMAGID, Y., Khatib, O. 1996: 461-468
  • 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
  • Extended operational space formulation for serial-to-parallel chain (branching) manipulators PROCEEDINGS OF 1995 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3 RUSSAKOW, J., Khatib, O., Rock, S. M. 1995: 1056-1061
  • 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
  • An Operational Space Formulation for Free-Flying, Multi-Arm Space Robot Russakow, J., Rock, S., Khatib, O. 1995
  • Inertial Properties in Robotics Manipulation: An Object-Level Framework International Journal of Robotics Research Khatib, O. 1995; 14 (1): 19-36
  • Multi-Grasp Manipulation Williams, D., 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
  • 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, SYMPOSIUM PROCEEDINGS Khatib, O. 1995: 7-12
  • Manipulator control at kinematic singularities: A dynamically consistent strategy IROS '95 - 1995 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS: HUMAN ROBOT INTERACTION AND COOPERATIVE ROBOTS, PROCEEDINGS, VOL 3 Chang, K. S., Khatib, O. 1995: 84-88
  • Analysis of the acceleration characteristics of non-redundant manipulators IROS '95 - 1995 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS: HUMAN ROBOT INTERACTION AND COOPERATIVE ROBOTS, PROCEEDINGS, VOL 2 Bowling, A., Khatib, O. 1995: 323-328
  • Optimization of the inertial and acceleration characteristics of non-redundant manipulators PROCEEDINGS OF THE THIRD CONFERENCE ON MECHATRONICS AND ROBOTICS Khatib, O., Bowling, A. B. 1995: 500-510
  • DYNAMIC SIMULATION OF INTERACTIVE ROBOTIC ENVIRONMENT 1994 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION: PROCEEDINGS, VOLS 1-4 Lee, P. U., RUSPINI, D. C., Khatib, O. 1994: 1147-1152
  • 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
  • Towards Integrated Planning and Control Khatib, O. 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
  • A DYNAMICALLY CONSISTENT STRATEGY FOR MANIPULATOR CONTROL AT SINGULARITIES ADVANCES IN ROBOT KINEMATICS AND COMPUTATIONAL GEOMETRY Chang, K. S., Khatib, O. 1994: 221-228
  • THE OPERATIONAL SPACE FRAMEWORK JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING Khatib, O. 1993; 36 (3): 277-287
  • 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
  • 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
  • missing title 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
  • A New Control Structure for Free-Flying Space Robots. Russakow, J., Khatib, O. 1992
  • Inertial Properties in Robotics Manipulation Department of Computer Science 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
  • 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
  • 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
  • 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
  • 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
  • Object Manipulation in a Multi-Effector Robot System 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
  • The Augmented Object and Reduced Effective Inertia in Robot 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
  • Robust Operational Space Control for Goal Positioned Manipulator Tasks Slotine, J., J., Khatib, O., Ruth, D. 1987
  • 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
  • Force Strategies in Real-Time Fine Motion Assembly Shekhar, S., Khatib, O. 1987
  • 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
  • REAL-TIME OBSTACLE AVOIDANCE FOR MANIPULATORS AND MOBILE ROBOTS INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Khatib, O. 1986; 5 (1): 90-98
  • 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