With the advent of more and more dynamic motions with increasing autonomy, humanoid state estimation is becoming more and more a key factor, and sometimes a limiting one. For instance, the HRP-4 stair climbing example by Caron et al.  is not possible without a proper estimator. Thus we need to explicit the recent development for higher estimation precision and new desired features.
Our invited speaker Mehdi Benallegue will share the latest advancement utilizing surrounding environment information and discuss the most needed properties for whole body motion generation and control.
 Stéphane Caron, Abderrahmane Kheddar, and Olivier Tempier. Stair climbing stabilization of the hrp-4 humanoid robot using whole-body admittance control. In IEEE International Conference on Robotics and Automation, pages 277–283, 2019.