Interactive Collaborative Robotics 4th International Conference, ICR 2019, Istanbul, Turkey, August 20-25, 2019, Proceedings - Ronzhin, Andrey; Ronzhin, Andrey; Rigoll, Gerhard; Rigoll, Gerhard; Meshcheryakov, Roman; Meshcheryakov, Roman (Springer International Publishing : Imprint: Springer, 2019)