We present experimental analysis on subjects performing a bowing task, and we estimate the motion and kinetics quantities.

This paper details the implementation of state-of-the-art whole-body control algorithms on the humanoid robot iCub. 

This paper describes an algorithm to perform dynamic computations . The method is computationally optimised with a sparse matrix factorisation.

This paper presents the goals and steps of the AnDy project, which leverages existing technologies to endow robots with the ability to control physical collaboration through intentional interaction.