1. Humanoid robot

A humanoid robot, with its locomotor system and upper limbs, is a multi-body mechanism. Its geometric structure is tree-like and anthropomorphic. Its size and mass are close to or homothetic with those of a human. Its actuators can be electric, pneumatic or hydraulic. It is controlled in such a way as to ensure maximum safety in the event of human contact. The humanoid robot is thus well adapted to evolve in an environment designed for humans, and to perform a variety of assistance or work tasks. It has proprioceptive sensors to measure its joint positions and speeds, and exteroceptive sensors to gather information on its environment (ground reaction force, obstacles, etc.). A computer system controls its locomotion, monitors its stability and coordinates its interaction with humans. During its movements, this mobile robot has to take into account information from its sensors and unilateral...