J. Adams, R. Bajcsy, J. Kosecka, V. Kumar, R. Mandelbaum et al., Cooperative material handling by human and robotic agents: module development and system synthesis, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots, pp.200-205, 1995.

B. V. Adorno, A. P. Bó, and P. Fraisse, Interactive manipulation between a human and a humanoid: When robots control human arm motion, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011.
DOI : 10.1109/IROS.2011.6094869

URL : https://hal.archives-ouvertes.fr/lirmm-00641907

B. V. Adorno, A. P. Bó, P. Fraisse, and P. Poignet, Towards a cooperative framework for interactive manipulation involving a human and a humanoid, 2011 IEEE International Conference on Robotics and Automation, 2011.
DOI : 10.1109/ICRA.2011.5979787

URL : https://hal.archives-ouvertes.fr/lirmm-00641657

B. V. Adorno and G. A. Borges, iARW: An incremental path planner algorithm based on adaptive random walks, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.988-993, 2009.
DOI : 10.1109/IROS.2009.5354533

B. V. Adorno and G. A. Borges, Planejamento de Rotas, Robótica Móvel chapter, 2011.

B. V. Adorno and P. Fraisse, Extended cooperative dual task-space and its application to interactive manipulation in mobile manipulators (submitted for publication, 2011.

B. V. Adorno, P. Fraisse, and S. Druon, Dual position control strategies using the cooperative dual task-space framework, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3955-3960, 2010.
DOI : 10.1109/IROS.2010.5650218

URL : https://hal.archives-ouvertes.fr/lirmm-00535889

B. Akyar, Dual quaternions in spatial kinematics in an algebraic sense, Turk. J. Math, vol.32, issue.4, pp.373-391, 2008.

V. Andaluz, F. Roberti, and R. Carelli, Robust control with redundancy resolution and dynamic compensation for mobile manipulators, 2010 IEEE International Conference on Industrial Technology, pp.1109-1469, 2010.
DOI : 10.1109/ICIT.2010.5472488

T. Asfour, K. Regenstein, P. Azad, J. Schroder, A. Bierbaum et al., ARMAR-III: An Integrated Humanoid Platform for Sensory-Motor Control, 2006 6th IEEE-RAS International Conference on Humanoid Robots, pp.169-175, 2006.
DOI : 10.1109/ICHR.2006.321380

M. C. Bernardes, B. V. Adorno, P. Poignet, N. Zemiti, and G. A. Borges, Adaptive path planning for steerable needles using duty-cycling, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011.
DOI : 10.1109/IROS.2011.6094594

URL : https://hal.archives-ouvertes.fr/lirmm-00641824

M. C. Bernardes, B. V. Adorno, N. Zemiti, P. Poignet, and G. A. Borges, Adaptive path planning for steerable needles using duty-cycling, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011.
DOI : 10.1109/IROS.2011.6094594

URL : https://hal.archives-ouvertes.fr/lirmm-00641824

W. Bibliography-bluethmann, R. Ambrose, M. Diftler, S. Askew, E. Huber et al., Robonaut: A Robot Designed to Work with Humans in Space, Autonomous Robots, vol.14, issue.2/3, pp.179-197, 2003.
DOI : 10.1023/A:1022231703061

A. P. Bó, Compensation active de tremblements pathologiques des membres supérieurs via la stimulation électrique fonctionnelle, 2010.

J. Bohren, R. Rusu, E. Jones, E. Marder-eppstein, C. Pantofaru et al., Towards autonomous robotic butlers: Lessons learned with the PR2, 2011 IEEE International Conference on Robotics and Automation, pp.5568-5575, 2011.
DOI : 10.1109/ICRA.2011.5980058

C. Borst, T. Wimbock, F. Schmidt, M. Fuchs, B. Brunner et al., Rollin' Justin - Mobile platform with variable base, 2009 IEEE International Conference on Robotics and Automation, pp.1597-1598, 2009.
DOI : 10.1109/ROBOT.2009.5152586

O. Bottema and B. Roth, Theoretical Kinematics, Journal of Applied Mechanics, vol.47, issue.1, 1979.
DOI : 10.1115/1.3153630

G. Bradski and A. Kaehler, Learning OpenCV -Computer Vision with the OpenCV Library, 2008.

C. Breazeal, A. Takanishi, and T. Kobayashi, Social Robots that Interact with People, Handbook of Robotics, pp.1349-1369, 2008.
DOI : 10.1007/978-3-540-30301-5_59

I. Bronshtein, K. Semendyayev, K. Hirsch, and H. Mühlig, Handbook of mathematics, 2007.

F. Caccavale, P. Chiacchio, and S. Chiaverini, Task-space regulation of cooperative manipulators, Automatica, vol.36, issue.6, pp.879-887, 2000.
DOI : 10.1016/S0005-1098(99)00215-0

F. Caccavale, P. Chiacchio, A. Marino, and L. Villani, Six-DOF Impedance Control of Dual-Arm Cooperative Manipulators, IEEE/ASME Transactions on Mechatronics, vol.13, issue.5, pp.576-586, 2008.
DOI : 10.1109/TMECH.2008.2002816

F. Caccavale, C. Natale, B. Siciliano, and L. Villani, Six-DOF impedance control based on angle/axis representations, IEEE Transactions on Robotics and Automation, vol.15, issue.2, pp.289-300, 1999.
DOI : 10.1109/70.760350

F. Caccavale and M. Uchiyama, Handbook of Robotics, chapter 29, pp.701-718, 2008.

R. Campa and H. De-la-torre, Pose control of robot manipulators using different orientation representations: A comparative review, 2009 American Control Conference, pp.2855-2860, 2009.
DOI : 10.1109/ACC.2009.5160254

W. Carriker, P. Khosla, and B. Krogh, An approach for coordinating mobility and manipulation, IEEE International Conference on Systems Engineering, pp.59-63, 1989.
DOI : 10.1109/ICSYSE.1989.48620

P. Cheng, V. Kumar, R. Arkin, M. Steinberg, and K. Hedrick, Cooperative control of multiple heterogeneous unmanned vehicles for coverage and surveillance, IEEE Robotics & Automation Magazine, vol.16, issue.2, pp.12-12, 2009.

P. Chiacchio, S. Chiaverini, and B. Siciliano, Direct and Inverse Kinematics for Coordinated Motion Tasks of a Two-Manipulator System, Journal of Dynamic Systems, Measurement, and Control, vol.118, issue.4, pp.691-697, 1996.
DOI : 10.1115/1.2802344

S. Chiaverini, Singularity-robust task-priority redundancy resolution for realtime kinematic control of robot manipulators. Robotics and Automation, IEEE Transactions on, vol.13, issue.3, pp.398-410, 1997.

H. Choset, K. M. Lynch, S. Hutchinson, G. Kantor, W. B. Kavraki et al., Principles of Robot Motion: Theory, Algorithms, and Implementations, 2005.

J. C. Chou, Quaternion kinematic and dynamic differential equations, IEEE Transactions on Robotics and Automation, vol.8, issue.1, pp.53-64, 1992.
DOI : 10.1109/70.127239

T. H. Connolly and F. Pfeiffer, Cooperating manipulator control using dual quaternion coordinates, Proceedings of 1994 33rd IEEE Conference on Decision and Control, pp.2417-2418, 1994.
DOI : 10.1109/CDC.1994.411452

P. Corke, A robotics toolbox for MATLAB, IEEE Robotics & Automation Magazine, vol.3, issue.1, pp.24-32, 1996.
DOI : 10.1109/100.486658

M. Diftler, J. Mehling, M. Abdallah, N. Radford, L. Bridgwater et al., Robonaut 2 - The first humanoid robot in space, 2011 IEEE International Conference on Robotics and Automation, pp.2178-2183, 2011.
DOI : 10.1109/ICRA.2011.5979830

E. Dombre and W. Khalil, Robot Manipulators: Modeling, Performance Analysis and Control, 2007.
DOI : 10.1002/9780470612286

URL : https://hal.archives-ouvertes.fr/lirmm-00127404

J. Dooley and J. Mccarthy, Spatial rigid body dynamics using dual quaternion components, Proceedings. 1991 IEEE International Conference on Robotics and Automation, pp.90-95, 1991.
DOI : 10.1109/ROBOT.1991.131559

J. Dooley and J. Mccarthy, On the geometric analysis of optimum trajectories for cooperating robots using dual quaternion coordinates, [1993] Proceedings IEEE International Conference on Robotics and Automation, pp.1031-1036, 1993.
DOI : 10.1109/ROBOT.1993.292111

A. Edsinger and C. Kemp, Two Arms Are Better Than One: A Behavior Based Control System for Assistive Bimanual Manipulation, Recent Progress in Robotics: Viable Robotic Service to Human, pp.345-355, 2008.
DOI : 10.1007/978-3-540-76729-9_27

P. Evrard, N. Mansard, O. Stasse, A. Kheddar, T. Schauss et al., Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.5635-5640, 2009.
DOI : 10.1109/IROS.2009.5354412

URL : https://hal.archives-ouvertes.fr/lirmm-00798697

B. Fukao, T. Nakagawa, H. Adachi, and N. , Adaptive tracking control of a nonholonomic mobile robot, IEEE Transactions on Robotics and Automation, vol.16, issue.5, pp.609-615, 2000.
DOI : 10.1109/70.880812

M. Gharbi, J. Cortés, and T. Siméon, A sampling-based path planner for dual-arm manipulation, 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp.383-388, 2008.
DOI : 10.1109/AIM.2008.4601691

P. Giordano, Visual Estimation and Control of Robot Manipulating Systems, 2007.

Y. Gu and J. Luh, Dual-number transformation and its applications to robotics, IEEE Journal of Robotics and Automation, vol.3, issue.6, pp.615-623, 1987.

W. R. Hamilton, On Quaternions, Or On a New System Of Imaginaries In Algebra, 1844.

D. Han, Q. Wei, and Z. Li, Kinematic control of free rigid bodies using dual quaternions, International Journal of Automation and Computing, vol.46, issue.1, pp.319-324, 2008.
DOI : 10.1007/s11633-008-0319-1

N. G. Hockstein, C. G. Gourin, R. Faust, and D. J. Terris, A history of robots: from science fiction to surgical robotics, Journal of Robotic Surgery, vol.27, issue.11, pp.113-118, 2007.
DOI : 10.1007/s11701-007-0021-2

M. Huber, M. Rickert, A. Knoll, T. Brandt, and S. Glasauer, Human-robot interaction in handing-over tasks, RO-MAN 2008, The 17th IEEE International Symposium on Robot and Human Interactive Communication, pp.107-112, 2008.
DOI : 10.1109/ROMAN.2008.4600651

H. Iwata and S. Sugano, Design of human symbiotic robot TWENDY-ONE, 2009 IEEE International Conference on Robotics and Automation, pp.580-586, 2009.
DOI : 10.1109/ROBOT.2009.5152702

T. Kane, P. Likins, and D. Levinson, Spacecraft Dynamics, Journal of Applied Mechanics, vol.50, issue.2, 1983.
DOI : 10.1115/1.3167078

O. Kanoun, Contribution à la planification de mouvement pour robots humanoïdes, 2009.

C. Kemp, A. Edsinger, and E. Torres-jara, Challenges for robot manipulation in human environments [Grand Challenges of Robotics], IEEE Robotics & Automation Magazine, vol.14, issue.1, pp.20-29, 2007.
DOI : 10.1109/MRA.2007.339604

C. C. Kemp, P. Fitzpatrick, H. Hirukawa, K. Yokoi, K. Harada et al., Handbook of Robotics, chapter 56, Humano, pp.1307-1333, 2008.

O. Khatib, A unified approach for motion and force control of robot manipulators: The operational space formulation, IEEE Journal on Robotics and Automation, vol.3, issue.1, pp.43-53, 1987.
DOI : 10.1109/JRA.1987.1087068

O. Khatib, Object manipulation in a multi-effector robot system, Proceedings of the 4th international symposium on Robotics Research, pp.137-144, 1988.

O. Khatib, Mobile manipulation: The robotic assistant, Robotics and Autonomous Systems, vol.26, issue.2-3, pp.175-183, 1999.
DOI : 10.1016/S0921-8890(98)00067-0

O. Khatib, K. Yokoi, O. Brock, K. Chang, and A. Casal, Robots in Human Environments: Basic Autonomous Capabilities, The International Journal of Robotics Research, vol.18, issue.7, p.684, 1999.
DOI : 10.1177/02783649922066501

O. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg et al., Decentralized cooperation between multiple manipulators, Proceedings 5th IEEE International Workshop on Robot and Human Communication. RO-MAN'96 TSUKUBA, pp.183-188, 1996.
DOI : 10.1109/ROMAN.1996.568810

J. Kim and V. R. Kumar, Kinematics of robot manipulators via line transformations, Journal of Robotic Systems, vol.14, issue.4, pp.649-674, 1990.
DOI : 10.1002/rob.4620070408

M. Kim, M. Kim, and S. Y. Shin, A Compact Differential Formula for the First Derivative of a Unit Quaternion Curve, The Journal of Visualization and Computer Animation, vol.7, issue.1, pp.43-57, 1996.
DOI : 10.1002/(SICI)1099-1778(199601)7:1<43::AID-VIS136>3.0.CO;2-T

H. I. Krebs, N. Hogan, M. L. Aisen, and B. T. Volpe, Robot-aided neurorehabilitation, IEEE Transactions on Rehabilitation Engineering, vol.6, issue.1, pp.75-87, 1998.
DOI : 10.1109/86.662623

T. Kröger, B. Finkemeyer, U. Thomas, and F. Wahl, Compliant motion programming: The task frame formalism revisited, Mechatronics & Robotics, 2004.

J. J. Kuffner, Effective sampling and distance metrics for 3D rigid body path planning, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, pp.3993-3998, 2004.
DOI : 10.1109/ROBOT.2004.1308895

J. B. Kuipers, Quaternions and Rotation Sequences -A Primer With Applications To Orbits, Aerospace, And Virtual Reality, 1999.

A. Liegeois, Automatic Supervisory Control of the Configuration and Behavior of Multibody Mechanisms, IEEE Transactions on Systems, Man and Cybernetics, vol.7, issue.12, pp.868-871, 1977.

T. Lozano-perez, M. T. Mason, and R. H. Taylor, Automatic Synthesis of Fine-Motion Strategies for Robots, The International Journal of Robotics Research, vol.24, issue.9, pp.3-24, 1984.
DOI : 10.1177/027836498400300101

J. Luh, M. Walker, and R. Paul, Resolved-acceleration control of mechanical manipulators, IEEE Transactions on Automatic Control, vol.25, issue.3, pp.468-474, 1980.
DOI : 10.1109/TAC.1980.1102367

S. P. Lum, C. G. Burgar, P. C. Shor, M. Majmundar, and M. V. Der-loos, Robotassisted movement training compared with conventional therapy techniques for the rehabilitation of upper-limb motor function after stroke, Arch Phys Med Rehabil, issue.7, pp.83-952, 2002.

C. Lynch and M. Popovic, Functional Electrical Stimulation, IEEE Control Systems Magazine, vol.28, issue.2, pp.40-50, 2008.
DOI : 10.1109/MCS.2007.914689

N. Mansard, Enchaïnement de Tâches Robotiques, 2006.

N. Mansard and F. Chaumette, Task Sequencing for High-Level Sensor-Based Control, IEEE Transactions on Robotics, vol.23, issue.1, pp.60-72, 2007.
DOI : 10.1109/TRO.2006.889487

N. Mansard and F. Chaumette, Directional Redundancy for Robot Control, IEEE Transactions on Automatic Control, vol.54, issue.6, pp.1179-1192, 2009.
DOI : 10.1109/TAC.2009.2019790

URL : https://hal.archives-ouvertes.fr/inria-00436753

N. Mansard, O. Khatib, and A. Kheddar, A Unified Approach to Integrate Unilateral Constraints in the Stack of Tasks, IEEE Transactions on Robotics, vol.25, issue.3, pp.670-685, 2009.
DOI : 10.1109/TRO.2009.2020345

URL : https://hal.archives-ouvertes.fr/lirmm-00798676

G. Marani, G. Antonelli, and J. Yu, Marine Robotic Systems [From the Guest Editors, IEEE Robotics & Automation Magazine, vol.17, issue.1, pp.18-18, 2010.
DOI : 10.1109/MRA.2010.936355

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 & Automation Magazine, vol.12, issue.4, pp.40-52, 2005.
DOI : 10.1109/MRA.2005.1577023

URL : https://hal.archives-ouvertes.fr/inria-00351899

J. Mccarthy, Introduction to theoretical kinematics, 1990.

P. Morin and C. Samson, Motion Control of Wheeled Mobile Robots, Springer Handbook of Robotics chapter 34, pp.799-826, 2008.
DOI : 10.1007/978-3-540-30301-5_35

R. Murray, Z. Li, and S. Sastry, A mathematical introduction to robotic manipulation, 1994.

Y. Nakamura, H. Hanafusa, and T. Yoshikawa, Task-Priority Based Redundancy Control of Robot Manipulators, The International Journal of Robotics Research, vol.94, issue.3, pp.3-15, 1987.
DOI : 10.1177/027836498700600201

K. Okada, T. Ogura, A. Haneda, J. Fujimoto, F. Gravot et al., Humanoid motion generation system on HRP2-JSK for daily life environment, IEEE International Conference Mechatronics and Automation, 2005, pp.1772-1777, 2005.
DOI : 10.1109/ICMA.2005.1626828

C. Ott, O. Eiberger, W. Friedl, B. Bauml, U. Hillenbrand et al., A Humanoid Two-Arm System for Dexterous Manipulation, 2006 6th IEEE-RAS International Conference on Humanoid Robots, pp.276-283, 2006.
DOI : 10.1109/ICHR.2006.321397

R. Paul, Robot manipulators: mathematics, programming, and control: the computer control of robot manipulators, 1981.

A. Perez and J. M. Mccarthy, Dual Quaternion Synthesis of Constrained Robotic Systems, Journal of Mechanical Design, vol.126, issue.3, p.425, 2004.
DOI : 10.1115/1.1737378

C. Perrier, Génération de mouvements pour un manipulateur mobile non-holonome, 1998.

C. Perrier, P. Dauchez, and F. Pierrot, Towards the use of dual quaternions for motion generation of nonholonomic mobile manipulators, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97, pp.1293-1298, 1997.
DOI : 10.1109/IROS.1997.656437

C. Perrier, P. Dauchez, and F. Pierrot, A global approach for motion generation of non-holonomic mobile manipulators, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), pp.2971-2976, 1998.
DOI : 10.1109/ROBOT.1998.680881

H. Pham, V. Perdereau, B. V. Adorno, and P. Fraisse, Position and orientation control of robot manipulators using dual quaternion feedback, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.658-663, 2010.
URL : https://hal.archives-ouvertes.fr/lirmm-00535893

A. Rodriguez-angeles and H. Nijmeijer, Mutual Synchronization of Robots via Estimated State Feedback: A Cooperative Approach, IEEE Transactions on Control Systems Technology, vol.12, issue.4, pp.542-554, 2004.
DOI : 10.1109/TCST.2004.825065

Y. Sakagami, R. Watanabe, C. Aoyama, S. Matsunaga, N. Higaki et al., The intelligent ASIMO: system overview and integration, IEEE/RSJ International Conference on Intelligent Robots and System, pp.2478-2483, 2002.
DOI : 10.1109/IRDS.2002.1041641

F. Schmidt, T. Wimb, O. Birbach, A. Dietrich, M. Fuchs et al., Catching Flying Balls and Preparing Coffee: Humanoid Rollin' Justin Performs Dynamic and Sensitive Tasks, IEEE International Conference on Robotics and Automation, pp.3443-3444, 2011.

L. Sentis, Synthesis and control of whole-body behaviors in humanoid systems, 2007.

H. Seraji, An on-line approach to coordinated mobility and manipulation, [1993] Proceedings IEEE International Conference on Robotics and Automation, pp.28-35, 1993.
DOI : 10.1109/ROBOT.1993.291957

B. Siciliano, L. Sciavicco, and L. Villani, Robotics: modelling, planning and control, 2009.
DOI : 10.1007/978-1-84628-642-1

B. Siciliano and J. Slotine, A general framework for managing multiple tasks in highly redundant robotic systems, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments, pp.1211-1216, 1991.
DOI : 10.1109/ICAR.1991.240390

E. A. Sisbot, L. F. Marin-urias, X. Broquère, D. Sidobre, and R. Alami, Synthesizing Robot Motions Adapted to Human Presence, International Journal of Social Robotics, vol.11, issue.2, pp.329-343, 2010.
DOI : 10.1007/s12369-010-0059-6

R. Soyama, S. Ishii, and A. Fukase, 8 Selectable Operating Interfaces of the Meal-Assistance Device ???My Spoon???, Rehabilitation, pp.155-163, 2004.
DOI : 10.1007/10946978_8

M. Spong, S. Hutchinson, and M. Vidyasagar, Robot modeling and control, 2006.

O. Stasse, P. Evrard, N. Perrin, N. Mansard, and A. Kheddar, Fast foot prints replanning and motion generation during walking in physical human-humanoid interaction, 9th IEEE-RAS International Conference on Humanoid Robots, pp.284-289, 2009.
URL : https://hal.archives-ouvertes.fr/hal-00507141

D. Sun and J. Mills, Adaptive synchronized control for coordination of multirobot assembly tasks, IEEE Transactions on Robotics and Automation, vol.18, issue.4, pp.498-510, 2002.

M. Tenorth, U. Klank, D. Pangercic, and M. Beetz, Web-Enabled Robots, IEEE Robotics & Automation Magazine, vol.18, issue.2, pp.58-68, 2011.
DOI : 10.1109/MRA.2011.940993

S. Thrun, M. Montemerlo, H. Dahlkamp, D. Stavens, A. Aron et al., Stanley: The robot that won the DARPA Grand Challenge, Journal of Field Robotics, vol.11, issue.9, pp.661-692, 2006.
DOI : 10.1002/rob.20147

R. Tinos and M. Terra, Control of cooperative manipulators with passive joints, Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301), pp.1129-1134, 2002.
DOI : 10.1109/ACC.2002.1023171

M. Uchiyama and P. Dauchez, A symmetric hybrid position/force control scheme for the coordination of two robots, Proceedings. 1988 IEEE International Conference on Robotics and Automation, pp.350-356, 1988.
DOI : 10.1109/ROBOT.1988.12073

R. Ueha, H. T. Pham, H. Hirai, and F. Miyazaki, A simple control design for human-robot coordination based on the knowledge of dynamical role division, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3051-3056, 2009.
DOI : 10.1109/IROS.2009.5354109

C. Wampler, Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods, IEEE Transactions on Systems, Man, and Cybernetics, vol.16, issue.1, pp.93-101, 1986.
DOI : 10.1109/TSMC.1986.289285

D. E. Whitney, Resolved Motion Rate Control of Manipulators and Human Prostheses, IEEE Transactions on Man Machine Systems, vol.10, issue.2, pp.47-53, 1969.
DOI : 10.1109/TMMS.1969.299896

D. Williams and O. Khatib, The virtual linkage: a model for internal forces in multi-grasp manipulation, [1993] Proceedings IEEE International Conference on Robotics and Automation, pp.1025-1030, 1993.
DOI : 10.1109/ROBOT.1993.292110

Y. Yamamoto and X. Yun, Coordinating locomotion and manipulation of a mobile manipulator, IEEE Transactions on Automatic Control, vol.39, issue.6, pp.1326-1332, 1994.
DOI : 10.1109/9.293207

M. Yamano, J. Kim, A. Konno, and M. Uchiyama, Cooperative Control of a 3D Dual-Flexible-Arm Robot, Journal of Intelligent and Robotic Systems, vol.39, issue.1, pp.1-15, 2004.
DOI : 10.1023/B:JINT.0000010794.37580.3a

A. T. Yang, Application of Dual-Number Quaternion Algebra to the Analysis of Spatial Mechanisms, Journal of Applied Mechanics, vol.31, issue.2, 1963.
DOI : 10.1115/1.3629601

B. Adorno, P. Vilhena, and . Fraisse, Extended cooperative dual task-space and its application to interactive manipulation in mobile manipulators (submitted for publication, Advanced Robotics. full paper in international conferences, 2011.

B. Adorno, P. Vilhena, S. Fraisse, and . Druon, Dual position control strategies using the cooperative dual task-space framework, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3955-3960, 2010.
DOI : 10.1109/IROS.2010.5650218

URL : https://hal.archives-ouvertes.fr/lirmm-00535889

. Pham, V. Hoang-lan, B. V. Perdereau, P. Adorno, and . Fraisse, Position and orientation control of robot manipulators using dual quaternion feedback, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.658-663, 2010.
URL : https://hal.archives-ouvertes.fr/lirmm-00535893

B. Adorno, A. Vilhena, P. Padilha-lanari-bó, P. Fraisse, and . Poignet, Towards a cooperative framework for interactive manipulation involving a human and a humanoid, 2011 IEEE International Conference on Robotics and Automation, 2011.
DOI : 10.1109/ICRA.2011.5979787

URL : https://hal.archives-ouvertes.fr/lirmm-00641657

B. Adorno, A. Vilhena, . Padilha-lanari, P. Bó, and . Fraisse, Interactive manipulation between a human and a humanoid: When robots control human arm motion, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011.
DOI : 10.1109/IROS.2011.6094869

URL : https://hal.archives-ouvertes.fr/lirmm-00641907