Codirector of the Joint-Robotics Laboratory (JRL) of the CNRS (France) and the National Institute of Advance Industrial Science and Technology (AIST) (Japan) since 2009. Since 2015, he also serves as Deputy-Director of Intelligent Systems Research Institute (IS-AIST), Tsukuba, Japan. His research currently focuses in robot tasks and motion planning, human modelling and humanoid robots.