N. Jarrassé, T. Charalambous, and E. Burdet, A framework to describe, analyze and generate interactive motor behaviors, PloS one, vol.7, issue.11, p.49945, 2012.

K. Reed and M. Peshkin, Physical Collaboration of Human-Human and Human-Robot Teams, IEEE Transactions on, vol.1, pp.108-120, 2008.

A. Kheddar, Human-robot haptic joint actions is an equal control-sharing approach possible?, 4th International Conference on Human System Interactions (HSI), pp.268-273, 2011.
URL : https://hal.archives-ouvertes.fr/lirmm-00781550

T. Flash and N. Hogan, The coordination of arm movements: an experimentally confirmed mathematical model, The journal of Neuroscience, vol.5, issue.7, pp.1688-1703, 1985.

M. O. Ernst and H. H. Bülthoff, Merging the senses into a robust percept, Trends in cognitive sciences, vol.8, issue.4, pp.162-169, 2004.

M. O. Ernst and M. S. Banks, Humans integrate visual and haptic information in a statistically optimal fashion, Nature, vol.415, issue.6870, pp.429-433, 2002.

, Robots and robotic devices

Y. Maeda, T. Hara, and T. Arai, Human-robot cooperative manipulation with motion estimation, IEEE/RSJ International Conference on Robots and Intelligent Systems, vol.4, pp.2240-2245, 2001.

E. Gribovskaya, A. Kheddar, and A. Billard, Motion learning and adaptive impedance for robot control during physical interaction with humans, IEEE International Conference on Robotics and Automation, pp.4326-4332, 2011.
URL : https://hal.archives-ouvertes.fr/lirmm-00781272

A. Bussy, A. Kheddar, A. Crosnier, and F. Keith, Human-humanoid haptic joint object transportation case study, IEEE/RSJ International Conference on Robots and Intelligent Systems, pp.3633-3638, 2012.
URL : https://hal.archives-ouvertes.fr/lirmm-00773401

L. Villani and J. D. Schutter, Force Control, Springer handbook of robotics, pp.161-185, 2008.

N. Hogan, Impedance control-An approach to manipulation. I-Theory. IIImplementation. III-Applications, ASME Transactions Journal of Dynamic Systems and Measurement Control B, vol.107, pp.1-24, 1985.

R. Ikeura and H. Inooka, Variable impedance control of a robot for cooperation with a human, Robotics and Automation, 1995. Proceedings, vol.3, pp.3097-3102, 1995.

R. Ikeura, T. Moriguchi, and K. Mizutani, Optimal variable impedance control for a robot and its application to lifting an object with a human, Proceedings. 11th IEEE International Workshop on, pp.500-505, 2002.

V. Duchaine and C. M. Gosselin, General model of human-robot cooperation using a novel velocity based variable impedance control, EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp.446-451, 2007.

B. Corteville, E. Aertbeliën, H. Bruyninckx, J. D. Schutter, and H. Van-brussel, Human-inspired robot assistant for fast point-to-point movements, IEEE International Conference on Robotics and Automation, pp.3639-3644, 2007.

E. Burdet, R. Osu, D. W. Franklin, T. E. Milner, and M. Kawato, The central nervous system stabilizes unstable dynamics by learning optimal impedance, Nature, vol.414, issue.6862, pp.446-449, 2001.

B. J. Nelson, J. D. Morrow, and P. K. Khosla, Improved force control through visual servoing, Proc. of the American Control Conference, vol.1, pp.380-386, 1995.

M. T. Mason, Compliance and force control for computer controlled manipulators, IEEE Transactions on Systems, Man and Cybernetics, vol.11, issue.6, pp.418-432, 1981.

J. Baeten, H. Bruyninckx, and J. D. Schutter, Integrated vision/force robotic servoing in the task frame formalism, International Journal of Robotics Research, vol.22, issue.10, pp.941-954, 2003.

K. Hosoda, K. Igarashi, and M. Asada, Adaptive hybrid visual servoing/force control in unknown environment, IEEE/RSJ International Conference on Robots and Intelligent Systems, vol.3, pp.1097-1103, 1996.
DOI : 10.1109/iros.1996.568956

M. Prats, P. Martinet, A. P. Del-pobil, and S. Lee, Vision force control in taskoriented grasping and manipulation, IEEE/RSJ International Conference on Robots and Intelligent Systems, pp.1320-1325, 2007.
DOI : 10.1109/iros.2007.4399256

A. D. Santis, V. Lippiello, B. Siciliano, and L. Villani, Human-robot interaction control using force and vision, Advances in Control Theory and Applications, pp.51-70, 2007.

G. Morel, E. Malis, and S. Boudet, Impedance based combination of visual and force control, IEEE International Conference on Robotics and Automation, vol.2, pp.1743-1748, 1998.

E. Malis, G. Morel, and F. Chaumette, Robot control using disparate multiple sensors, International Journal of Robotics Research, vol.20, issue.5, pp.364-377, 2001.
DOI : 10.1177/02783640122067444

URL : http://www.irisa.fr/lagadic/pdf/2001_ijrr_malis.pdf

R. Smits, T. De, K. Laet, H. Claes, J. D. Bruyninckx et al., iTASC: a tool for multi-sensor integration in robot manipulation, IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, pp.426-433, 2008.
DOI : 10.1109/mfi.2008.4648032

URL : http://people.mech.kuleuven.be/%7Etdelaet/papers/mfi2008.pdf

G. Taylor and L. Kleeman, Visual Perception and Robotic Manipulation: 3D Object Recognition, Tracking and Hand-Eye Coordination, Springer Tracts in Advanced Robotics, 2006.

S. Wieland, D. Gonzalez-aguirre, N. Vahrenkamp, T. Asfour, and R. Dillmann, Combining force and visual feedback for physical interaction tasks in humanoid robots, IEEE-RAS International Conference on Humanoid Robots, pp.439-446, 2009.
DOI : 10.1109/ichr.2009.5379544

B. J. Nelson and P. K. Khosla, Force and vision resolvability for assimilating disparate sensory feedback, IEEE Transactions on Robotics and Automation, vol.12, issue.5, pp.714-731, 1996.
DOI : 10.1109/70.538976

R. Featherstone, Rigid body dynamics algorithms, 2008.
DOI : 10.1007/978-1-4899-7560-7

Z. Wang, K. Mülling, M. P. Deisenroth, H. Ben-amor, D. Vogt et al., Probabilistic movement modeling for intention inference in human-robot interaction, International Journal of Robotics Research, vol.32, issue.7, pp.841-858, 2013.
DOI : 10.1177/0278364913478447

URL : http://www.ias.informatik.tu-darmstadt.de/uploads/Publications/Wang_IJRR_2013.pdf

D. Song, N. Kyriazis, I. Oikonomidis, C. Papazov, A. Argyros et al., Predicting human intention in visual observations of hand/object interactions, IEEE International Conference on Robotics and Automation, pp.1608-1615, 2013.

N. Mansard, O. Stasse, P. Evrard, and A. Kheddar, A versatile generalized inverted kinematics implementation for collaborative working humanoid robots: The stack of tasks, International Conference on Advanced Robotics, pp.1-6, 2009.
URL : https://hal.archives-ouvertes.fr/lirmm-00796736

K. Bouyarmane and A. Kheddar, Using a multi-objective controller to synthesize simulated humanoid robot motion with changing contact configurations, IEEE/RSJ International Conference on Robots and Intelligent Systems, pp.4414-4419, 2011.
DOI : 10.1109/iros.2011.6048124

URL : https://hal.archives-ouvertes.fr/lirmm-00765820

J. Vaillant, A. Kheddar, H. Audren, F. Keith, S. Brossette et al., Vertical ladder climbing by the HRP-2 humanoid robot, 14th IEEE-RAS International Conference on, pp.671-676, 2014.
DOI : 10.1109/humanoids.2014.7041435

URL : https://hal.archives-ouvertes.fr/hal-01276934

A. Escande, N. Mansard, and P. Wieber, Hierarchical quadratic programming: Fast online humanoid-robot motion generation, The International Journal of Robotics Research, 2014.
DOI : 10.1177/0278364914521306

URL : https://hal.archives-ouvertes.fr/hal-00751924

S. Kajita, H. Hirukawa, K. Harada, K. Yokoi, and S. Sakka, IntroductionàIntroductionà la commande des robots humano¨?deshumano¨?des: De la modélisationmodélisationà la génération du mouvement, 2009.

P. Wieber, R. Tedrake, and S. Kuindersma, Modeling and control of legged robots, Springer handbook of robotics, 2015.
DOI : 10.1007/978-3-319-32552-1_48

P. Wieber, Holonomy and Nonholonomy in the Dynamics of Articulated Motion, Fast Motions in Biomechanics and Robotics, vol.340, pp.411-425, 2006.

M. Vukobratovi´cvukobratovi´c and B. Borovac, Zero-Moment Point-Thirty Five Years Of Its Life, International Journal of Humanoid Robotics, vol.01, issue.01, pp.157-173, 2004.

S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada et al., Biped walking pattern generation by using preview control of zero-moment point, IEEE International Conference on Robotics and Automation, vol.2, pp.1620-1626, 2003.

S. Lee and A. Goswami, Reaction Mass Pendulum (RMP): An explicit model for centroidal angular momentum of humanoid robots, IEEE International Conference on Robotics and Automation, pp.4667-4672, 2007.

K. Harada, S. Kajita, K. Kaneko, and H. Hirukawa, Dynamics and balance of a humanoid robot during manipulation tasks, IEEE Transactions on Robotics, vol.22, pp.568-575, 2006.

H. Hirukawa, S. Hattori, K. Harada, S. Kajita, K. Kaneko et al., A universal stability criterion of the foot contact of legged robots-adios ZMP, IEEE International Conference on Robotics and Automation, pp.1976-1983, 2006.

T. Koolen, T. De-boer, J. Rebula, A. Goswami, and J. Pratt, Capturabilitybased analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models, International Journal of Robotics Research, vol.31, issue.9, pp.1094-1113, 2012.

J. Pratt, T. Koolen, T. De-boer, J. Rebula, S. Cotton et al., Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid, International Journal of Robotics Research, vol.31, issue.10, pp.1117-1133, 2012.

A. Herdt, H. Diedam, P. Wieber, D. Dimitrov, K. Mombaur et al., Online walking motion generation with automatic footstep placement, Advanced Robotics, vol.24, issue.5-6, pp.719-737, 2010.

K. Yokoyama, H. Handa, T. Isozumi, Y. Fukase, K. Kaneko et al., Cooperative works by a human and a humanoid robot, IEEE International Conference on Robotics and Automation, vol.3, pp.2985-2991, 2003.

A. Bussy, P. Gergondet, A. Kheddar, F. Keith, and A. Crosnier, Proactive behavior of a humanoid robot in a haptic transportation task with a human partner, IEEE International Symposium on Robot and Human Interactive Communication, pp.962-967, 2012.
URL : https://hal.archives-ouvertes.fr/lirmm-00773403

D. J. Agravante, A. Cherubini, A. Bussy, P. Gergondet, and A. Kheddar, Collaborative Human-Humanoid Carrying Using Vision and Haptic Sensing, IEEE International Conference on Robotics and Automation, pp.607-612, 2014.
URL : https://hal.archives-ouvertes.fr/lirmm-00950727

K. Nishiwaki and S. Kagami, Online walking control system for humanoids with short cycle pattern generation, International Journal of Robotics Research, vol.28, issue.6, pp.729-742, 2009.

K. Harada, S. Kajita, F. Kanehiro, K. Fujiwara, K. Kaneko et al., Real-time planning of humanoid robot's gait for force controlled manipulation, IEEE International Conference on Robotics and Automation, vol.1, pp.616-622, 2004.

S. Nozawa, Y. Kakiuchi, K. Okada, and M. Inaba, Controlling the planar motion of a heavy object by pushing with a humanoid robot using dual-arm force control, IEEE International Conference on Robotics and Automation, pp.1428-1435, 2012.

S. Nozawa, I. Kumagai, Y. Kakiuchi, K. Okada, and M. Inaba, Humanoid fullbody controller adapting constraints in structured objects through updating task-level reference force, IEEE/RSJ International Conference on Robots and Intelligent Systems, pp.3417-3424, 2012.

T. Takubo, K. Inoue, K. Sakata, Y. Mae, and T. Arai, Mobile manipulation of humanoid robots-control method for CoM position with external force, IEEE/RSJ International Conference on Robots and Intelligent Systems, vol.2, pp.1180-1185, 2004.

T. Takubo, K. Inoue, and T. Arai, Pushing an Object Considering the Hand Reflect Forces by Humanoid Robot in Dynamic Walking, IEEE International Conference on Robotics and Automation, pp.1706-1711, 2005.

M. Stilman, K. Nishiwaki, and S. Kagami, Humanoid teleoperation for whole body manipulation, IEEE International Conference on Robotics and Automation, pp.3175-3180, 2008.

A. Ibanez, P. Bidaud, and V. Padois, Unified preview control for humanoid postural stability and upper-limb interaction adaptation, IEEE/RSJ International Conference on Robots and Intelligent Systems, pp.1801-1808, 2012.
URL : https://hal.archives-ouvertes.fr/hal-00720746

M. Murooka, S. Nozawa, Y. Kakiuchi, K. Okada, and M. Inaba, Whole-body pushing manipulation with contact posture planning of large and heavy object for humanoid robot, IEEE International Conference on Robotics and Automation, pp.5682-5689, 2015.

M. Morisawa, K. Harada, S. Kajita, K. Kaneko, J. Sola et al., Reactive stepping to prevent falling for humanoids, pp.528-534, 2009.

M. Morisawa, F. Kanehiro, K. Kaneko, N. Mansard, J. Sola et al., Combining suppression of the disturbance and reactive stepping for recovering balance, IEEE/RSJ International Conference on Robots and Intelligent Systems, pp.3150-3156, 2010.

J. Urata, K. Nshiwaki, Y. Nakanishi, K. Okada, S. Kagami et al., Online decision of foot placement using singular LQ preview regulation, IEEE-RAS International Conference on Humanoid Robots, pp.13-18, 2011.

J. Urata, K. Nshiwaki, Y. Nakanishi, K. Okada, S. Kagami et al., Online walking pattern generation for push recovery and minimum delay to commanded change of direction and speed, IEEE/RSJ International Conference on Robots and Intelligent Systems, pp.3411-3416, 2012.

K. Kosuge, M. Sato, and N. Kazamura, Mobile robot helper, IEEE International Conference on Robotics and Automation, vol.1, pp.583-588, 2000.

J. Stückler and S. Behnke, Following human guidance to cooperatively carry a large object, IEEE-RAS International Conference on Humanoid Robots, pp.218-223, 2011.

E. Berger, D. Vogt, N. Haji-ghassemi, B. Jung, and H. B. Amor, Inferring guidance information in cooperative human-robot tasks, IEEE-RAS International Conference on Humanoid Robots, 2013.

M. Bellaccini, L. Lanari, A. Paolillo, and M. Vendittelli, Manual guidance of humanoid robots without force sensors: Preliminary experiments with NAO, IEEE International Conference on Robotics and Automation, pp.1184-1189, 2014.

S. Mcgill and D. Lee, Cooperative humanoid stretcher manipulation and locomotion, IEEE-RAS International Conference on Humanoid Robots, pp.429-433, 2011.

P. Evrard, Contrôle d'humano¨?deshumano¨?des pour réaliser des tâches haptiques en coopération avec un opérateur humain, 2009.

P. Evrard and A. Kheddar, Homotopy switching model for dyad haptic interaction in physical collaborative tasks, EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp.45-50, 2009.
URL : https://hal.archives-ouvertes.fr/lirmm-00796731

A. Bussy, Cognitive approach for representing the haptic physical humanhumanoid interaction, 2013.
URL : https://hal.archives-ouvertes.fr/tel-01017162

F. Chaumette and S. Hutchinson, Visual servo control, Part I: Basic approaches, IEEE Robotics and Automation Magazine, vol.13, issue.4, pp.82-90, 2006.
URL : https://hal.archives-ouvertes.fr/inria-00350283

F. Chaumette and S. Hutchinson, Visual servo control, Part II: Advanced approaches, IEEE Robotics and Automation Magazine, vol.14, issue.1, pp.109-118, 2007.
URL : https://hal.archives-ouvertes.fr/inria-00350638

R. C. Gonzalez, R. E. Woods, and S. L. Eddins, Digital image processing using MATLAB, vol.2, 2009.

R. I. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, p.521540518, 2004.

G. Bradski and A. Kaehler, Learning OpenCV: Computer vision with the OpenCV library, 2008.

V. Lepetit and P. Fua, Monocular model-based 3d tracking of rigid objects: A survey, 2005.

A. I. Comport, E. Marchand, M. Pressigout, and F. Chaumette, Real-time markerless tracking for augmented reality: the virtual visual servoing framework, IEEE Transactions on Visualization and Computer Graphics, vol.12, issue.4, pp.615-628, 2006.
URL : https://hal.archives-ouvertes.fr/inria-00161250

´. E. Marchand, F. Spindler, and F. Chaumette, ViSP for visual servoing: a generic software platform with a wide class of robot control skills, IEEE Robotics and Automation Magazine, vol.12, issue.4, pp.40-52, 2005.
URL : https://hal.archives-ouvertes.fr/inria-00351899

C. Dune, A. Herdt, E. Marchand, O. Stasse, P. Wieber et al., Vision based control for humanoid robots, IROS Workshop on Visual Control of Mobile Robots (ViCoMoR), pp.19-26, 2011.
URL : https://hal.archives-ouvertes.fr/hal-00639681

S. Gay, A. Ijspeert, and J. S. Victor, Predictive gaze stabilization during periodic locomotion based on Adaptive Frequency Oscillators, IEEE International Conference on Robotics and Automation, pp.271-278, 2012.

J. Hauser, S. Sastry, and P. Kokotovic, Nonlinear control via approximate input-output linearization: The ball and beam example, IEEE Transactions on Automatic Control, vol.37, issue.3, pp.392-398, 1992.

H. Audren, J. Vaillant, A. Kheddar, A. Escande, K. Kaneko et al., Model preview control in multi-contact motion-application to a humanoid robot, IEEE/RSJ International Conference on Robots and Intelligent Systems, pp.4030-4035, 2014.
URL : https://hal.archives-ouvertes.fr/lirmm-01256511

W. Chung, L. Fu, and S. Hsu, Motion Control, Springer handbook of robotics, pp.133-159, 2008.

D. J. Agravante, A. Cherubini, A. Bussy, and A. Kheddar, Humanhumanoid joint haptic table carrying task with height stabilization using vision, IEEE/RSJ International Conference on Robots and Intelligent Systems, pp.4609-4614, 2013.
URL : https://hal.archives-ouvertes.fr/lirmm-00857659

D. J. Agravante, A. Cherubini, and A. Kheddar, Using vision and haptic sensing for human-humanoid joint actions, IEEE International Conference on Robotics, Automation and Mechatronics, pp.13-18, 2013.
URL : https://hal.archives-ouvertes.fr/lirmm-00908439

A. Sherikov, D. Dimitrov, and P. Wieber, Whole body motion controller with long-term balance constraints, IEEE-RAS International Conference on Humanoid Robots, pp.444-450, 2014.
URL : https://hal.archives-ouvertes.fr/hal-01418363

M. Cutkosky, On grasp choice, grasp models, and the design of hands for manufacturing tasks, IEEE Transactions on Robotics and Automation, vol.5, pp.269-279, 1989.

A. Rodriguez, M. T. Mason, and S. Ferry, From caging to grasping, International Journal of Robotics Research, 2012.

J. Nocedal and S. Wright, Numerical Optimization. Springer Series in Operations Research and Financial Engineering, 2000.

J. Vaillant, Programmation de Mouvements de Locomotion et Manipulation en Multi-Contacts pour Robots Humano¨?desHumano¨?des et Expérimentations, 2015.