1. Obstacle Collision Detection Using Best Ellipsoid Fit

   • Elon Rimon
   • Stephen P. Boyd

   OriginalPaper Pages: 105 - 126

2. Behaviour Synthesis of the Erect Stance for a Biped Control

   • Philippe Gorce
   • Olivier Vanel

   OriginalPaper Pages: 127 - 145

3. Task Oriented Optimum Positioning of a Mobile Manipulator Base in a Cluttered Environment

   • Young Soo Park
   • Hyung Suck Cho

   OriginalPaper Pages: 147 - 168

4. Mobile Manipulator Motion Planning for Multiple Tasks Using Global Optimization Approach

   • Jae-Kyung Lee
   • Hyung Suck Cho

   OriginalPaper Pages: 169 - 190

5. Impedance Control as a Particular Case of the Unified Approach to the Control of Robots Interacting with a Dynamic Known Environment

   • Miomir K. Vukobratović
   • Aleksandar G. Rodić
   • Yury Ekalo

   OriginalPaper Pages: 191 - 204