The field of robotics is moving towards more advanced and complex interaction with the environment, with a focus on control and stability. Researchers are exploring new methods for controlling impedance and admittance, as well as generating trajectories for multi-contact motion. Whole-body contact is also being investigated as a means to improve stability and efficiency. Additionally, there is a growing interest in loco-manipulation planning, which enables humanoid robots to autonomously perform object transportation. Noteworthy papers include:

• Centroidal Trajectory Generation and Stabilization based on Preview Control for Humanoid Multi-contact Motion, which proposes a novel method for reducing computational cost in centroidal trajectory generation.
• Optimization-based Posture Generation for Whole-body Contact Motion by Contact Point Search on the Body Surface, which presents a posture generation method that utilizes all available surfaces of the robot links.