A. Bicchi, M. Peshkin, and J. Colgate, Safety for Physical Human???Robot Interaction, pp.1335-1348, 2008.
DOI : 10.1007/978-3-540-30301-5_58

A. De-santis, B. Siciliano, A. De-luca, and A. Bicchi, An atlas of physical human???robot interaction, Mechanism and Machine Theory, pp.253-270, 2008.
DOI : 10.1016/j.mechmachtheory.2007.03.003

A. , D. Luca, and F. Flacco, Integrated control for pHRI: Collision avoidance , detection, reaction and collaboration, IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics BIOROB, 2012.

L. Sentis and O. Khatib, A whole-body control framework for humanoids operating in human environments, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., 2006.
DOI : 10.1109/ROBOT.2006.1642100

M. S. Erden and A. Billard, End-point impedance measurements at human hand during interactive manual welding with robot, 2014 IEEE International Conference on Robotics and Automation (ICRA), 2014.
DOI : 10.1109/ICRA.2014.6906599

X. Li and C. C. Cheah, Human-guided robotic manipulation: Theory and experiments, 2014 IEEE International Conference on Robotics and Automation (ICRA), 2014.
DOI : 10.1109/ICRA.2014.6907530

M. S. Erden and B. Maric, Assisting manual welding with robot, Robotics and Computer-Integrated Manufacturing, vol.27, issue.4, pp.818-828, 2011.
DOI : 10.1016/j.rcim.2011.01.003

G. Grunwald, G. Schreiber, A. Albu-schaffer, and G. Hirzinger, Touch: The direct type of human interaction with a redundant service robot, Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591), 2001.
DOI : 10.1109/ROMAN.2001.981928

M. S. Erden and T. Tomiyama, Human-Intent Detection and Physically Interactive Control of a Robot Without Force Sensors, IEEE Transactions on Robotics, vol.26, issue.2, pp.370-382, 2010.
DOI : 10.1109/TRO.2010.2040202

O. Khatib, E. Demircan, V. Desapio, L. Sentis, T. Besier et al., Robotics-based synthesis of human motion, Journal of Physiology-Paris, vol.103, issue.3-5, pp.3-5, 2009.
DOI : 10.1016/j.jphysparis.2009.08.004

Y. Maeda, T. Hara, and T. Arai, Human-robot cooperative manipulation with motion estimation, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), pp.2240-2245, 2001.
DOI : 10.1109/IROS.2001.976403

L. Villani and J. Schutter, Force Control, pp.161-184, 2008.

V. Lippiello, B. Siciliano, and L. Villani, Interaction Control of Robot Manipulators Using Force and Vision, International Journal of Optomechatronics, vol.2, issue.3, p.257274, 2008.
DOI : 10.1080/15599610802301599

F. Flacco, T. Kröger, A. De-luca, and O. Khatib, A depth space approach to human-robot collision avoidance, 2012 IEEE International Conference on Robotics and Automation, pp.338-345, 2012.
DOI : 10.1109/ICRA.2012.6225245

J. A. Corrales, G. J. Garcia-gomez, F. Torres-medina, and V. Perdereau, Cooperative Tasks between Humans and Robots in Industrial Environments, International Journal of Advanced Robotic Systems, vol.48, issue.4, 2012.
DOI : 10.5772/5664

URL : https://hal.archives-ouvertes.fr/hal-00737775

F. Chaumette and S. Hutchinson, Visual servo control. I. Basic approaches, IEEE Robotics & Automation Magazine, vol.13, issue.4, pp.82-90, 2006.
DOI : 10.1109/MRA.2006.250573

URL : https://hal.archives-ouvertes.fr/inria-00350283

S. M. Valle, Planning Algorithms, 2006.

A. De-santis, V. Lippiello, B. Siciliano, and L. Villani, Human-Robot Interaction Control Using Force and Vision, Advances in Control Theory and Applications, vol.353, pp.51-70, 2007.
DOI : 10.1007/978-3-540-70701-1_3

B. J. Nelson, Improved force control through visual servoing, Proceedings of 1995 American Control Conference, ACC'95, 1995.
DOI : 10.1109/ACC.1995.529274

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.65.4599

K. Hosoda, K. Igarashi, and M. Asada, Adaptive hybrid visual servoing/force control in unknown environment, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems IROS, 1996.

M. H. Raibert and J. J. Craig, Hybrid Position/Force Control of Manipulators, Journal of Dynamic Systems, Measurement, and Control, vol.103, issue.2, pp.126-133, 1981.
DOI : 10.1115/1.3139652

J. Baeten, H. Bruyninckx, and J. Schutter, Integrated Vision/Force Robotic Servoing in the Task Frame Formalism, The International Journal of Robotics Research, vol.18, issue.3, pp.941-954, 2003.
DOI : 10.1177/027836490302210010

N. Hogan, Impedance Control: An Approach to Manipulation: Part I???Theory, Journal of Dynamic Systems, Measurement, and Control, vol.107, issue.1, pp.1-24, 1985.
DOI : 10.1115/1.3140702

G. Morel, E. Malis, and S. Boudet, Impedance based combination of visual and force control, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 1998.
DOI : 10.1109/ROBOT.1998.677418

M. Prats, P. J. Sanz, and A. P. , Vision-tactile-force integration and robot physical interaction, 2009 IEEE International Conference on Robotics and Automation, 2009.
DOI : 10.1109/ROBOT.2009.5152515

A. Cherubini, R. Passama, A. Meline, A. Crosnier, and P. Fraisse, Multimodal control for human-robot cooperation, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013.
DOI : 10.1109/IROS.2013.6696664

URL : https://hal.archives-ouvertes.fr/lirmm-00914416

B. Siciliano, L. Sciavicco, L. Villani, and G. Oriolo, Robotics: Modelling, Planning and Control, 2009.
DOI : 10.1007/978-1-84628-642-1

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

J. D. Schutter, T. De-laet, J. Rutgeerts, W. Decr, R. Smits et al., Constraint-based Task Specification and Estimation for Sensor-Based Robot Systems in the Presence of Geometric Uncertainty, The International Journal of Robotics Research, vol.10, issue.2, pp.433-455, 2007.
DOI : 10.1177/027836490707809107

N. M. Ceriani, A. M. Zanchettin, P. Rocco, A. Stolt, and A. Robertsson, A constraint-based strategy for task-consistent safe human-robot interaction, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013.
DOI : 10.1109/IROS.2013.6697022

M. Prats, P. J. Sanz, and A. P. , Reliable non-prehensile door opening through the combination of??vision, tactile and force feedback, Autonomous Robots, vol.32, issue.1, pp.201-218, 2010.
DOI : 10.1007/s10514-010-9192-1

G. Antonelli, F. Arrichiello, and S. Chiaverini, Abstract, Paladyn, Journal of Behavioral Robotics, vol.1, issue.1, pp.48-56, 2010.
DOI : 10.2478/s13230-010-0006-0

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, 2009.
DOI : 10.1109/TRO.2009.2020345

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

J. Park, J. Lee, and N. Mansard, Intermediate Desired Value Approach for Task Transition of Robots in Kinematic Control, IEEE Trans. on Robotics, vol.28, issue.6, pp.1260-1277, 2012.

L. Saab, O. Ramos, F. Keith, N. Mansard, P. Soueres et al., Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints, IEEE Transactions on Robotics, vol.29, issue.2, pp.346-362, 2013.
DOI : 10.1109/TRO.2012.2234351

URL : https://hal.archives-ouvertes.fr/lirmm-00831097

K. Waldron and J. Schmiedeler, Kinematics, pp.9-33, 2008.
DOI : 10.1177/027836499101000503

E. Malis, F. Chaumette, and S. Boudet, 2 1/2 D visual servoing, IEEE Transactions on Robotics and Automation, vol.15, issue.2, pp.238-250, 1999.
DOI : 10.1109/70.760345

URL : https://hal.archives-ouvertes.fr/inria-00073302

T. Kröger and B. Finkemeyer, Robot motion control during abrupt switchings between manipulation primitives, Workshop on Mobile Manipulation at the IEEE Int. Conf. on Robotics and Automation ICRA, 2011.

A. Liegeois, Automatic supervisory control of configurations and behavior of multibody mechanisms, IEEE Trans. on Systems, Man, and Cybernetics, vol.7, issue.6, pp.868-871, 1977.

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. Versace, A Review of the Severity Index, SAE Technical Paper Series, p.149170, 1971.
DOI : 10.4271/710881