This was the second in a series of international symposia designed to circulate every two years around North America, Europe, and Asia. The objective is to present and discuss in depth the research results and current developments in Robotics. A broad spectrum of fields is presented in the papers, e.g. manipulator control, mobile robots, legged locomotion, perception and vision, and control architectures. The papers in the proceedings provide a unique combination of theoretical foundation and experimental validation. The editors have divided the text into ten sections with a synopsis by the editors, and containing four papers each.