... edition: 16 1 0-7 438 ISSN electronic edition: 16 1 0-7 42X ISBN -1 0 3-5 4 0-4 9 71 2-9 Springer Berlin Heidelberg New York ISBN -1 3 97 8-3 -5 4 0-4 9 71 2-7 Springer Berlin Heidelberg New York Library of Congress Control ... Via Claudio 21, 8 012 5 Napoli, Italy, email: siciliano@unina.it Professor Oussama Khatib, Robotics Laboratory, Department of Computer Science, Stanford University, Stanford, CA 9430 5-9 010 , USA, email: ... Data-conversion and production: PTP-Berlin Protago-TEX-Production GmbH, Germany (www.ptp-berlin.com) Cover-Design: WMXDesign GmbH, Heidelberg Printed on acid-free paper 89/ 314 1/Yu - Editorial Advisory Board...