Founded in 1939, the Centre National de la Recherche Scientifique (CNRS) is a government-funded research organization. CNRS research units are spread throughout France, and employ a large body of permanent researchers, engineers, technicians, and administrative staff. As the largest fundamental research organization in Europe, CNRS is involved in all scientific fields. The Montpellier Laboratory of Informatics, Robotics, and Micro-electronics (LIRMM), Interactive Digital Human group research activities focus on multi-sensory and multi-objectives task-space control of complex robotic systems such as humanoid with a focus on physical interaction.