This volume is a selection of papers of six international conferences that are held under the umbrella of the 12th FIRA RoboWorld congress, in Incheon, Korea, August 16-18, 2009.From the 115 contributed papers 44 papers are included in the volume, which is organized into 6 sections: humanoid robotics, human robot interaction, education and entertainment, cooperative robotics, robotic system design, and learning, optimization, communication. The volume is intended to provide readers with the recent technical progresses in robotics, human robot interactions, cooperative robotics and the related fields.