B. Gates, A robot in every home, Scientific American, vol.295, issue.1, pp.58-65, 2007.

P. Dario, E. Guglielmelli, and C. Laschi, Humanoids and personal robots: Design and experiments, Journal of Robotic Systems, vol.11, issue.12, pp.673-690, 2001.
DOI : 10.1002/rob.8106

K. A. Wyrobek, E. H. Berger, H. F. Van-der-loos, and J. K. Salisbury, Towards a personal robotics development platform: Rationale and design of an intrinsically safe personal robot, 2008 IEEE International Conference on Robotics and Automation, pp.2165-2170, 2008.
DOI : 10.1109/ROBOT.2008.4543527

J. Lafaye, D. Gouaillier, and P. B. Wieber, Linear model predictive control of the locomotion of Pepper, a humanoid robot with omnidirectional wheels, 2014 IEEE-RAS International Conference on Humanoid Robots, pp.336-341, 2014.
DOI : 10.1109/HUMANOIDS.2014.7041381

A. De-luca, A. Albu-schäffer, S. Haddadin, and G. Hirzinger, Collision detection and safe reaction with the DLR-III lightweight robot arm, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1623-1630, 2006.

M. Geravand, F. Flacco, and A. De-luca, Human-robot physical interaction and collaboration using an industrial robot with a closed control architecture, 2013 IEEE International Conference on Robotics and Automation, pp.4000-4007, 2013.
DOI : 10.1109/ICRA.2013.6631141

E. Magrini, F. Flacco, and A. De-luca, Estimation of contact forces using a virtual force sensor, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2126-2133, 2014.
DOI : 10.1109/IROS.2014.6942848

E. Magrini, F. Flacco, and A. De-luca, Control of generalized contact motion and force in physical human-robot interaction, 2015 IEEE International Conference on Robotics and Automation (ICRA), pp.2298-2304, 2015.
DOI : 10.1109/ICRA.2015.7139504

M. Nordin and P. Gutman, Controlling mechanical systems with backlash???a survey, Automatica, vol.38, issue.10, pp.1633-1649, 2002.
DOI : 10.1016/S0005-1098(02)00047-X

L. Marton and B. Lantos, Control of mechanical systems with Stribeck friction and backlash, Systems & Control Letters, vol.58, issue.2, pp.141-147, 2009.
DOI : 10.1016/j.sysconle.2008.10.001

B. Jung, J. Kong, B. Lee, S. Ahn, and J. Kim, Backlash compensation for a humanoid robot using disturbance observer, Industrial Electronics Society 30th Annual Conference of IEEE, pp.2142-2147, 2004.

M. Nordin, P. Bodin, and P. Gutman, New Models and Identification Methods for Backlash and Gear Play, pp.1-30, 2001.
DOI : 10.1007/978-1-4471-3687-3_1

L. Marton and B. Lantos, Friction and backlash measurement and identification method for robotic arms, Advanced Robotics ICAR 2009. International Conference on, pp.1-6, 2009.

R. Merzouki, J. Davila, L. Fridman, and J. Cadiou, Backlash phenomenon observation and identification in electromechanical system, Control Engineering Practice, vol.15, issue.4, pp.447-457, 2007.
DOI : 10.1016/j.conengprac.2006.09.001

G. Hovland, S. Hanssen, E. Gallestey, S. Moberg, T. Brogardh et al., Nonlinear identification of backlash in robot transmissions, 33rd International Symposium on Robotics. Citeseer, 2002.

M. Ruderman, F. Hoffmann, and T. Bertram, Modeling and Identification of Elastic Robot Joints With Hysteresis and Backlash, IEEE Transactions on Industrial Electronics, vol.56, issue.10, pp.3840-3847, 2009.
DOI : 10.1109/TIE.2009.2015752

J. Vrs, Modeling and identification of systems with backlash, Automatica, vol.46, issue.2, pp.369-374, 2010.
DOI : 10.1016/j.automatica.2009.11.005

L. Ravanbod-shirazi and A. Besanon-voda, BACKLASH IDENTIFICATION: A TWO STEP APPROACH, {IFAC} Proceedings Volumes, pp.85-90, 2002.
DOI : 10.3182/20020721-6-ES-1901.00425

F. Flacco, A. Paolillo, and A. Kheddar, Residual-based contacts estimation for humanoid robots, 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016.
DOI : 10.1109/HUMANOIDS.2016.7803308

R. Featherstone, Rigid Body Dynamics Algorithms, 2008.
DOI : 10.1007/978-0-387-74315-8

A. D. Luca and L. Ferrajoli, A modified newton-euler method for dynamic computations in robot fault detection and control, Robotics and Automation, 2009. ICRA '09. IEEE International Conference on, pp.3359-3364, 2009.