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The outer loop, called collaborative control loop, is devoted to the generation of stable motion patterns for a robot, given a specific manipulation task. The inner loop, called posture stability control loop, acts to guarantee the stability of humanoid for different poses determined by motion patterns. A case study is presented in order to show the effectiveness of the proposed control architecture.<\/jats:p>","DOI":"10.1017\/s026357471100018x","type":"journal-article","created":{"date-parts":[[2011,3,18]],"date-time":"2011-03-18T06:40:25Z","timestamp":1300430425000},"page":"949-957","source":"Crossref","is-referenced-by-count":12,"title":["A new approach on human\u2013robot collaboration with humanoid robot RH-2"],"prefix":"10.1017","volume":"29","author":[{"given":"C. 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