K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, The development of Honda humanoid robot, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), pp.1321-1326, 1998.
DOI : 10.1109/ROBOT.1998.677288

K. Kaneko, F. Kanehiro, M. Morisawa, K. Miura, S. Nakaoka et al., Cybernetic human HRP-4C, 2009 9th IEEE-RAS International Conference on Humanoid Robots, pp.7-14, 2009.
DOI : 10.1109/ICHR.2009.5379537

O. Ly and P. Oudeyer, Acroban the humanoid, ACM SIGGRAPH 2010 Emerging Technologies on, SIGGRAPH '10, pp.1-1, 2010.
DOI : 10.1145/1836821.1836825
URL : https://hal.archives-ouvertes.fr/inria-00541786

O. Ly, M. Lapeyre, and P. Oudeyer, Bio-inspired vertebral column, compliance and semi-passive dynamics in a lightweight humanoid robot, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011.
DOI : 10.1109/IROS.2011.6095019

C. Paul, M. Lungarella, and F. Iida, Morphology, control and passive dynamics, Robotics and Autonomous Systems, vol.54, issue.8, pp.617-618, 2006.
DOI : 10.1016/j.robot.2006.04.006

R. Pfeifer, M. Lungarella, and F. Iida, Self-Organization, Embodiment, and Biologically Inspired Robotics, Science, vol.318, issue.5853, p.1088, 2007.
DOI : 10.1126/science.1145803

J. Ceccato, M. De-seze, C. Azevedo, and J. Cazalet, Comparison of Trunk Activity during Gait Initiation and Walking in Humans, PLoS ONE, vol.4, issue.12, 2009.
DOI : 10.1371/journal.pone.0008193.t001
URL : https://hal.archives-ouvertes.fr/lirmm-00429399

C. Albu-schaffer, G. Ott, and . Hirzinger, A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots, The International Journal of Robotics Research, vol.127, issue.3, pp.23-39, 2007.
DOI : 10.1177/0278364907073776

A. Albu-schaffer, O. Eiberger, M. Grebenstein, S. Haddadin, C. Ott et al., Soft robotics, IEEE Robotics & Automation Magazine, vol.15, issue.3, pp.20-30, 2008.
DOI : 10.1109/MRA.2008.927979

S. Setiawan, J. Yamaguchi, and . Takanishi, Physical interaction between human and a bipedal humanoid robot-realization of humanfollow walking An atlas of physical humanrobot interaction, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C) Mechanism and Machine Theory, pp.361-367, 1999.

S. Haddadin, G. Schaffer, and . Hirzinger, Requirements for Safe Robots: Measurements, Analysis and New Insights, The International Journal of Robotics Research, vol.23, issue.4, pp.1507-1527, 2009.
DOI : 10.1177/0278364909343970

S. Haddadin, T. Laue, U. Frese, S. Wolf, A. Albu-schäffer et al., Kick it with elasticity: Safety and performance in human???robot soccer, Robotics and Autonomous Systems, vol.57, issue.8, pp.761-775, 2009.
DOI : 10.1016/j.robot.2009.03.004

M. J. Hertenstein, Touch: Its Communicative Functions in Infancy, Human Development, vol.45, issue.2, pp.70-94, 2002.
DOI : 10.1159/000048154

T. Tsuji and T. Ito, Command recognition by haptic interface on human support robot, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3178-3183, 2009.
DOI : 10.1109/IROS.2009.5354562

F. Dalla-libera, T. Minato, I. Fasel, H. Ishiguro, E. Pagello et al., A new paradigm of humanoid robot motion programming based on touch interpretation, Robotics and Autonomous Systems, vol.57, issue.8, pp.846-859, 2009.
DOI : 10.1016/j.robot.2009.03.013

T. Minato, Y. Yoshikawa, T. Noda, H. Ishiguro, and M. Asada, CB2: A child robot with biomimetic body for cognitive developmental robotics, 2007 7th IEEE-RAS International Conference on Humanoid Robots, pp.557-562, 2007.
DOI : 10.1109/ICHR.2007.4813926

M. Hersch, F. Guenter, S. Calinon, and A. Billard, Dynamical System Modulation for Robot Learning via Kinesthetic Demonstrations Dynamical System Modulation for Robot Learning via Kinesthetic Demonstrations, IEEE Transactions on Robotics, 2008.

P. Evrard, E. Gribovskaya, S. Calinon, A. Billard, and A. Kheddar, Teaching physical collaborative tasks: object-lifting case study with a humanoid, 2009 9th IEEE-RAS International Conference on Humanoid Robots, pp.399-404, 2009.
DOI : 10.1109/ICHR.2009.5379513
URL : https://hal.archives-ouvertes.fr/lirmm-00796725

A. Edsinger and C. C. Kemp, Human-Robot Interaction for Cooperative Manipulation: Handing Objects to One Another RO-MAN 2007 -The 16th, IEEE International Symposium on Robot and Human Interactive Communication, pp.1167-1172, 2007.

T. L. Chen and C. C. Kemp, Lead me by the hand, Proceeding of the 5th ACM/IEEE international conference on Human-robot interaction, HRI '10, pp.367-374, 2010.
DOI : 10.1145/1734454.1734579

K. Kosuge, T. Hayashi, Y. Hirata, and R. Tobiyama, Dance partner robot - Ms DanceR, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), 2003.
DOI : 10.1109/IROS.2003.1249691

T. Takeda, Y. Hirata, and K. Kosuge, HMM-based Error Recovery of Dance Step Selection for Dance Partner Robot, Proceedings 2007 IEEE International Conference on Robotics and Automation, pp.1768-1773, 2007.
DOI : 10.1109/ROBOT.2007.363578

H. G. Nguyen, Segway robotic mobility platform Proceedings of SPIE, no, pp.207-2201, 2002.

J. L. Banks, EGGWAY: A mobile platform with an intuitive physical interface, Artificial Intelligence, 2005.

S. Hyon, J. Hale, and G. Cheng, Full-Body Compliant Human–Humanoid Interaction: Balancing in the Presence of Unknown External Forces, IEEE Transactions on Robotics, vol.23, issue.5, pp.884-898, 2007.
DOI : 10.1109/TRO.2007.904896

H. S. Cramer, N. Kemper, A. Amin, and V. Evers, The effects of robot touch and proactive behaviour on perceptions of humanrobot interactions, Proceedings of the 4th ACM/IEEE international conference on Human robot interaction -HRI '09, p.275, 2009.

W. Stiehl, J. Lieberman, C. Breazeal, L. Basel, R. Cooper et al., The huggable, ACM SIGGRAPH 2006 Emerging technologies on , SIGGRAPH '06, pp.1290-1291, 2005.
DOI : 10.1145/1179133.1179149

J. Saldien, K. Goris, B. Vanderborght, B. Verrelst, R. V. Ham et al., ANTY : The development of an intelligent huggable robot for hospitalized children, Development, 2006.

S. Yohanan and K. E. Maclean, The Haptic Creature Project : Social Human-Robot Interaction through Affective Touch, Development, pp.1-5, 2010.

K. Wada and T. Shibata, Robot therapy in a care house - its sociopsychological and physiological effects on the residents, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., pp.3966-3971, 2006.
DOI : 10.1109/ROBOT.2006.1642310

D. Christensen, U. Schultz, and K. Stoy, A distributed strategy for gait adaptation in modular robots, 2010 IEEE International Conference on Robotics and Automation, pp.2765-2770, 2010.
DOI : 10.1109/ROBOT.2010.5509942

S. Peter, S. Grimmer, S. Lipfert, and A. Seyfarth, Variable Joint Elasticities in Running, Autonome Mobile Systeme, pp.129-136, 2009.
DOI : 10.1007/978-3-642-10284-4_17

S. Collins, A. Ruina, R. Tedrake, and M. Wisse, Efficient Bipedal Robots Based on Passive-Dynamic Walkers, Science, vol.307, issue.5712, p.1082, 2005.
DOI : 10.1126/science.1107799

C. Vaughan, Theories of bipedal walking: an odyssey, Journal of Biomechanics, vol.36, issue.4, pp.513-523, 2003.
DOI : 10.1016/S0021-9290(02)00419-0

P. Rodman and H. Mchenry, Bioenergetics and the origin of hominid bipedalism, American Journal of Physical Anthropology, vol.33, issue.1, pp.103-106, 1980.
DOI : 10.1002/ajpa.1330520113

J. Rose and J. Gamble, Human walking, 2006.

S. Mealing, The Art and Science of Computer Animation, Intellect Books, 1998.

F. Thomas and O. Johnston, The Illusion of life: Disney animation. Hyperion, 2001.

T. Chaminade, J. Hodgins, and M. Kawato, Anthropomorphism influences perception of computer-animated characters??? actions, Social Cognitive and Affective Neuroscience, vol.2, issue.3, pp.206-216, 2007.
DOI : 10.1093/scan/nsm017

M. Mori, Bukimi no tani, pp.33-35, 1970.