David Ahlgren & John Anderson 
Advances in Robotics 
FIRA RoboWorld Congress 2009, Incheon, Korea, August 16-20, 2009, Proceedings

th This volume is an edition of the papers selected from the 12 FIRA Robo World C- gress, held in Incheon, Korea, August 16-18, 2009. The Federation of International Robosoccer Association (FIRA – www. fira. net) is a non-profit organization, which organizes robotic competitions and meetings around the globe annually. The Robo Soccer competitions started in 1996 and FIRA was – tablished on June 5, 1997. The Robot Soccer competitions are aimed at promoting the spirit of science and technology to the younger generation. The congress is a forum in which to share ideas and future directions of technologies, and to enlarge the human networks in robotics area. The objectives of the FIRA Cup and Congress are to explore the technical dev- opment and achievement in the field of robotics, and provide participants with a robot festival including technical presentations, robot soccer competitions and exhibits – der the theme "Where Theory and Practice Meet. " th Under the umbrella of the 12 FIRA Robo World Congress Incheon 2009, six int- national conferences were held for greater impact and scientific exchange: th * 6 International Conference on Computational Intelligence, Robotics and Autonomous Systems (CIRAS) th * 5 International Symposium on Autonomous Minirobots for Research and Edutainment (AMi RE) * International Conference on Social Robotics (ICSR) * International Conference on Advanced Humanoid Robotics Research (ICAHRR) * International Conference on Entertainment Robotics (ICER) * International Robotics Education Forum (IREF) This volume consists of selected quality papers from the six conferences.