© 2008

Springer Handbook of Robotics

  • Bruno Siciliano
  • Oussama Khatib
  • Winner of the AAP PROSE Awards for Excellence in Physical Sciences & Mathematics as well as for Engineering & Technology

  • Research and Application-oriented handbook on one of the hottest topics in science and technology

  • The right book at the right time edited by two internationally renowned experts

  • Includes all the relevant developments and applications of robotics

  • Ideal resource not only for experts but also for people new to this growing field such as computer scientists, medical doctors, engineers, etc.

Reference work

Table of contents

  1. Front Matter
    Pages i-lix
  2. Introduction

    1. Bruno Siciliano, Oussama Khatib
      Pages 1-4
  3. Robotics Foundations

    1. Front Matter
      Pages 5-223
    2. Kenneth Waldron, James Schmiedeler
      Pages 9-33
    3. Roy Featherstone, David E. Orin
      Pages 35-65
    4. Victor Scheinman, J. Michael McCarthy
      Pages 67-86
    5. Henrik I. Christensen, Gregory D. Hager
      Pages 87-107
    6. Lydia E. Kavraki, Steven M. LaValle
      Pages 109-131
    7. Wankyun Chung, Li-Chen Fu, Su-Hau Hsu
      Pages 133-159
    8. Luigi Villani, Joris De Schutter
      Pages 161-185
    9. David Kortenkamp, Reid Simmons
      Pages 187-206
    10. Joachim Hertzberg, Raja Chatila
      Pages 207-223
  4. Robot Structures

    1. Front Matter
      Pages 225-450
    2. Jorge Angeles, Frank C. Park
      Pages 229-244
    3. Stefano Chiaverini, Giuseppe Oriolo, Ian D. Walker
      Pages 245-268
    4. Jean-Pierre Merlet, Clément Gosselin
      Pages 269-285
    5. Alessandro De Luca, Wayne Book
      Pages 287-319
    6. John Hollerbach, Wisama Khalil, Maxime Gautier
      Pages 321-344
    7. Claudio Melchiorri, Makoto Kaneko
      Pages 345-360
    8. Shuuji Kajita, Bernard Espiau
      Pages 361-389

About this book


Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The Springer Handbook of Robotics brings a widespread
and well-structured compilation of classic and emerging application areas of robotics. From the foundations to the social and ethical implications of robotics, the handbook provides a comprehensive collection of the accomplishments in the field, and constitutes a premise of further advances towards new challenges in robotics.
This handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and onehundred sixty-four authors, is an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines such as biomechanics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others.

Key Topics

  • Robotics foundations
  • Robot structures
  • Sensing and perception
  • Manipulation and interfaces
  • Mobile and distributed robotics
  • Field and service robotics
  • Human-centered and life-like robotics


  • Comprehensive coverage of research and development in robotics
  • Scientific resource for both experts and non experts in the field
  • Technical contents laid out in a tutorial setting
  • A coherent three-layer organization: robotics foundations, consolidated
    methodologies and technologies, advanced applications
  • Anchored in seven parts expanded into sixty-four chapters with interconnected
    presentation of subject matter
  • Developed in about 1650 pages with over 950 color illustrations including
    422 four-color, 80 tables and over 5500 references
  • Detailed index and fully searchable DVD-ROM providing rapid access to
    data and links to other source    


Basic Principles and Methods of Robotics Biologically-Inspired Robots Bopp2009 Industrial Robotics Life-Like Robotics MRWCat2007 Manipulation and Interfaces of Robots Mobile and Distributed Robotics Roboethics Robot Structures Robotics Robotics Foundations Sensing and Perception of Robots Springer Handbook of Robotics

Editors and affiliations

  • Bruno Siciliano
    • 1
  • Oussama Khatib
    • 2
  1. 1.PRISMA Lab, Dipartimento di Informatica e SistemisticaUniversitá degli Studi di Napoli Federico IINapoliItaly
  2. 2.Artificial Intelligence Laboratory, Department of Computer ScienceStanford UniversityStanfordUSA

About the editors

Bruno Siciliano is Professor of Control and Robotics at the University of Naples Federico II in Italy, President of the IEEE Robotics and Automation Society, and a Fellow of both IEEE and ASME.

Oussama Khatib is Professor of Computer Science at Stanford University in the USA, President of the International Foundation of Robotics Research, an IEEE Fellow, and a recipient of the Japan Robot Association Award in Research and Development.

Bibliographic information


From the reviews:

"A comprehensive collection of the international accomplishments in the field and presents the very latest research in robotics. … Designed for research and practice, the handbook is edited by the internationally renowned robotics experts … . The coverage of all specialist fields infringing into robotics makes this handbook a reliable desk reference for scientists and engineers in the industry. It also provides basic and more advanced content for scholars from related disciplines such as biomechanics, neurosciences, virtual simulation, animation, surgery, and sensor networks, among others." (Renate Bayaz, EurekAlert!, May, 2008)

"Together with Oussama Khatib, who is a Professor of Computer Science at Stanford University, Siciliano has edited and launched a ‘Handbook of Robotics’ that aims to make the increasingly complex field of robotics more accessible to engineers, doctors, computer scientists and designers. … The handbook was conceived to provide a valuable resource not only for robotics experts, but also for newcomers to this expanding field [such as] engineers, medical doctors, computer scientists, and designers." (Liz Tay, iTnews, June, 2008)

"The ‘Springer Handbook of Robotics’ … basically differs from other handbooks of robotics focusing on industrial applications. It presents a widespread and well-structured coverage from the foundations of robotics, through the consolidated methodologies and technologies, up to the new emerging application areas of robotics. The handbook is an ideal resource for robotics experts but also for people new to this expanding field such as engineers, medical doctors, computer scientists, designers; edited by two internationally renowned experts." (Amazon, Juni, 2008)

"Siciliano and Khatib have assembled a massive and comprehensive tome on robotics, circa 2008. Sections of the book can be read by a diverse audience of undergraduate and graduate students, researchers and even the general public. Spanning any field associated with the subject." (W Boudville, Amazon, Juni, 2008)

"The handbook is a very large and truly encyclopedic work, covering all aspects of robotics, from fundamental principles to applications. The book’s 1,600 pages are subdivided into seven parts … . Each of the seven parts is subdivided into multiple chapters, all written by experts in their fields throughout the world. … This amazing book does an incredible job of balancing theory and practice throughout. It should be an immensely valuable reference for students and practitioners of robotics for many years to come." (George A. Bekey, IEEE Robotics and Automation Magazine, September, 2008)

"The book’s seven parts and 64 chapters concisely review wholesomely ‘traditional’ applications of robotics, as well as address emerging questions of the science and technology of robots. … The volume is rich in indexes and lists. The accompanying DVD- ROM assists readers in perusing the topics. This is a must-have work for anyone with even a remote interest and interaction with this field. … Summing Up: Essential. Graduate students, researchers, faculty, professionals, and informed general readers." (G. Trajkovski, Choice, Vol. 46 (6), February, 2009)