This was the second in a series of international symposia designed to circulate every two years around North America, Europe, and Asia. The editors have divided the text into ten sections with a synopsis by the editors, and containing four papers each.

The equivalence of second order impedance control and proportional gain explicit force control: Theory and experiments.- Robot control in singular configurations — Analysis and experimental results.- Implementation of control algorithms for flexible joint robots on a KUKA IR 161/60 industrial robot: Experimental results.- Adaptive and fault tolerant tracking control of a pneumatic actuator.- Experimental verification of human skill transfer to deburring robots.- Learning of robotic assembly based on force information.- Model based implementation of a manipulation system with artificial skills.- A learning control system for an articulated gripper.- Implementation of behavioral control on a robot hand/arm system.- Mechanical and control issues for integration of an arm-hand robotic system.- Experimental evaluation of friction characteristics with an articulated robotic hand.- Intelligent robot gripper for general purposes.- A model-based optimal planning and execution system with active sensing and passive manipulation for augmentation of human precision in computer-integrated surgery.- An experimental environment for task-level programming of robots.- An architecture for task interpretation and execution control for intervention robots: Preliminary experiments.- A sensor-based telerobotic system for the space robot experiment ROTEX.- Towards real-time execution of motion tasks.- Force control of a two-arm robot manipulating a deformable object.- A practical system for planning safe trajectories for manipulator robots.- Preliminary experiments in spatial robot juggling.- A comparison of realtime obstacle avoidance methods for mobile robots.- Object-oriented design of mobile robot control systems.- Action level behaviours for locomotion and perception.- Implementationof a small size experimental self-contained autonomous robot — sensors, vehicle control, and description of sensor based behavior.- Mapping rugged terrain for a walking robot.- Localization of a multi-articulated 3D object from a mobile multisensor system.- Object understanding through visuo-motor cooperation.- Real-time vision based control of servomechanical systems.- Contact operations using an instrumented compliant wrist.- Controlling contact by integrating proximity and force sensing.- End point control of compliant robots.- Use of C-surface based force-feedback algorithm for complex assembly tasks.- Passive dynamic biped catalogue, 1991.- Realization of dynamic quadruped locomotion in pace gait by controlling walking cycle.- System identification and modelling of a high performance hydraulic actuator.- Experimental evaluation of human arm kinematics.- Modeling and control of a three degree of freedom manipulator with two flexible links.- Experimental examination of the identification methods for an industrial robot manipulator.

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