Primary Keywords: Contact Modeling; Legged Robots; Humanoid and Bipedal Locomotion; Humanoid Robots Passive Walking; Underactuated Robots; Task Planning; Optimization and Optimal Control; Formal Methods in Robotics and Automation; Manipulation Planning; Mobile Manipulation Motion and Path Planning; Hybrid Logical/Dynamical Planning and Verification; Multi-Robot Systems; Compliance and Impedance Control