Collaboration with Team LARSEN in inria, Nancy, France: Dr. Enrico Mingo was invited at  INRIA visiting Dr. Serena Ivaldi’s group, to collaborate on the topic of compliant whole-body control for humanoid robots involved in human-robot collaboration tasks. This collaboration started considering some common topics shared by the CogIMon project and the AnDy EU project. The aim was to implement a whole-body compliant stabilizer using the control framework OpenSoT (developed by IIT and used in the CogIMon project) for the iCub platform, used inside the AnDy project.