European Robotics Symposium 2006 This unique reference represents a cross section of forefront robotics research ranging from robotics and systems to learning autonomy and failure detection from vision and navigation to localization and mapping which are based on the papers presented at the 1st European Robotics Symposium (EUROS 06) held in Palermo Italy from 16 18 March 2006. The European Robotics Symposium (EUROS) is a brand new International scientific event promoted by EURON the European Robotics Network. Since its inception in 2000 EURON links most of the European robotics research teams and today (2006) involves more than 165 universities and companies across all of its member states. The EUROS meeting will be held in Europe every other year but international participation at all levels is strongly encouraged making it a meeting place for high quality presentation of interesting international research on robotics. An Ontology of Robotics Science A Multi Agent System Architecture for Modular Robotic Mobility Aids How to Construct Dense Objects with Self Reconfigurable Robots In Situ Autonomous Biomechanical Characterization Incremental Learning of Task Sequences with Information Theoretic Metrics Representation Recognition and Generation of Actions in the context of Imitation Learning Reduction of Learning Time for Robots Using Automatic State Abstraction Efficient Failure Detection for Mobile Robots Using Mixed Abstraction Particle Filters Optimization and Fail–Safety Analysis of Antagonistic Actuation for pHRI Bilateral Control of Different Order Teleoperators Navigation and planning in an unknown environment using vision and a cognitive map Exploiting Distinguishable Image Features in Robotic Mapping and Localization Image Based Visual Servoing for Mobile Robots with Catadioptric Camera Multi knowledge Approach for Mobile Robot Identification of a Changing Environment Robust Monte Carlo Localization using Adaptive Likelihood Models Metric Localization with Scale Invariant Visual Features using a Single Perspective Camera.