Lagrangian and Hamiltonian Methods for Nonlinear Control 2006 : Proceedings from the 3rd IFAC Workshop Nagoya Japan July 2006 A Differential Geometric Approach for Bernstein’s Degrees of Freedom Problem Nonsmooth Riemannian Optimization with Applications to Sphere Packing and Grasping Synchronization of Networked Lagrangian Systems An Algorithm to Discretize One Dimensional Distributed Port Hamiltonian Systems Virtual Lagrangian Construction Method for Infinite Dimensional Systems with Homotopy Operators Direct Discrete Time Design for Sampled Data Hamiltonian Control Systems Kinematic Compensation in Port Hamiltonian Telemanipulation Interconnection and Damping Assignment Passivity Based Control of a Four Tank System Towards Power Based Control Strategies for a Class of Nonlinear Mechanical Systems Power Shaping Control of Nonlinear Systems: A Benchmark Example Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes Simultaneous Interconnection and Damping Assignment Passivity Based Control: Two Practical Examples An Internal Model Approach to Implicit Fault Tolerant Control for Port Hamiltonian Systems On the Geometric Reduction of Controlled Three Dimensional Bipedal Robotic Walkers Gait Generation for a Hopping Robot Via Iterative Learning Control Based on Variational Symmetry On the Interconnection Structures of Irreversible Physical Systems Rolling Problems on Spaces of Constant Curvature Dirac Structures and the Legendre Transformation for Implicit Lagrangian and Hamiltonian Systems Control of a class of 1 generator nonholonomic system with drift through input dependent coordinate transformation Principal Subspace Flows Via Mechanical Systems on Grassmann Manifolds Approximation of Generalized Minimizers and Regularization of Optimal Control Problems Minimum Time Optimality of a Partially Singular Arc: Second Order Conditions Hamiltonian Engineering for Quantum Systems Stability Analysis of 2 D Object Grasping by a Pair of Robot Fingers with Soft and Hemispherical Ends Intrinsic Control Designs for Abstract Machines Shape Control of a Multi agent System Using Tensegrity Structures A Family of Pumping Damping Smooth Strategies for Swinging Up a Pendulum An Energy Shaping Approach with Direct Mechanical Damping Injection to Design of Control for Power Systems Remarks on Quadratic Hamiltonians in Spaceflight Mechanics Controlling a Submerged Rigid Body: A Geometric Analysis Explicit Structured Singular Value Analysis of Manipulators with Passivity Based Control.