Advances in Robotics : FIRA RoboWorld Congress 2009, Incheon, Korea, August 16-20, 2009, Proceedings - Jong-Hwan Kim, Shuzhi Sam Ge, Prahlad Vadakkepat, Norbert Jesse, Abdullah Al Manum, Sadasivan Puthusserypady K, Ulrich Rückert, Joaquin Sitte, Ulf Witkowski, Ryohei Nakatsu, Thomas Braunl, Jacky Baltes, John Anderson, Ching-Chang Wong, Igor Verner, . David Ahlgren ((Lecture Notes in Computer Science))