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However, there are tradeoffs during pHRI when their intentions do not match. This paper focuses on bipedal walking control during pHRI, which handles such tradeoff when a human and a humanoid robot having different footsteps locations and durations. To resolve this, a force\u2010reactive walking controller is proposed by adequately combining ankle and stepping strategies. The ankle strategy maintains the robot's intention based on an analytically\u2010optimal center of pressure, leading the robot to oppose resistance to multiple contacts from the human. Based on the robot's kinodynamic constraints and\/or the confidence of the robot's intention, the stepping strategy updates the robot's footsteps based on the human's intention implied by the multiple contact forces. Consequently, the proposed walking control on pHRI mutually exchanges human\u2013robot intentions in real\u2010time, thereby achieving coordinated steps. With a full\u2010sized humanoid robot that is able to detect multi\u2010contacts in real\u2010time, we succeeded in performing a long\u2010term \u201cbox\u2010step\u201d with multi\u2010contacts pHRI, demonstrating the robustness of our approach.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202100038","type":"journal-article","created":{"date-parts":[[2021,5,31]],"date-time":"2021-05-31T02:37:16Z","timestamp":1622428636000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":22,"title":["Whole\u2010Body Multicontact Haptic Human\u2013Humanoid Interaction Based on Leader\u2013Follower Switching: A Robot Dance of the \u201cBox Step\u201d"],"prefix":"10.1002","volume":"4","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3760-249X","authenticated-orcid":false,"given":"Taisuke","family":"Kobayashi","sequence":"first","affiliation":[{"name":"Division of Information Science Nara Institute of Science and Technology  8916\u20105 Takayama, Ikoma Nara 630\u20100192 Japan"}]},{"given":"Emmanuel","family":"Dean-Leon","sequence":"additional","affiliation":[{"name":"Institute for Cognitive Systems (ICS), Technical University of Munich  Arcisstra\u00dfe 21 80333 M\u00fcnchen Germany"}]},{"given":"Julio Rogelio","family":"Guadarrama-Olvera","sequence":"additional","affiliation":[{"name":"Institute for Cognitive Systems (ICS), Technical University of Munich  Arcisstra\u00dfe 21 80333 M\u00fcnchen Germany"}]},{"given":"Florian","family":"Bergner","sequence":"additional","affiliation":[{"name":"Institute for Cognitive Systems (ICS), Technical University of Munich  Arcisstra\u00dfe 21 80333 M\u00fcnchen Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0770-8717","authenticated-orcid":false,"given":"Gordon","family":"Cheng","sequence":"additional","affiliation":[{"name":"Institute for Cognitive Systems (ICS), Technical University of Munich  Arcisstra\u00dfe 21 80333 M\u00fcnchen Germany"}]}],"member":"311","published-online":{"date-parts":[[2021,5,30]]},"reference":[{"key":"e_1_2_13_2_1","doi-asserted-by":"publisher","DOI":"10.1163\/1568553054455103"},{"key":"e_1_2_13_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2012.2185843"},{"key":"e_1_2_13_4_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2019.103326"},{"key":"e_1_2_13_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2007.891642"},{"key":"e_1_2_13_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2671428"},{"key":"e_1_2_13_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2914350"},{"key":"e_1_2_13_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2430053"},{"key":"e_1_2_13_9_1","doi-asserted-by":"crossref","unstructured":"M. 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