Marcelo H. Ang Jr. Oussama Khatib Experimental Robotics IX, The 9th International Symposium on Experimental Robotics [ISER 2004, Singapore, 18.-21. June 2004] ISER Springer Tracts in Advanced Robotics 21 2006 978-3-540-28816-9 Springer db/conf/iser/iser2004.html