"So I became involved during these years in one of the early project in robotics called Spartacus. Spartacus is a project to develop a robotic system that is aimed to assist human. And in this project a number of research groups around France, from the South to the North, in were involved in that pioneering project. I think this was probably one of the earliest project in Europe. And it brought a number of people who are still today involved in robotics. So if we go over the group of people who is today involved in robotics we will find many of them who participated in that project. However, my research itself was very closely connected with another laboratory in France. Because of my work was pursued at the school SUPAERO. Next to SUPAERO there is a very important center of robotics, and this is called LAAS, L-A-A-S. And at LAAS, there was a very important project initiated and led by Georges Giralt. And Georges Giralt was in fact one of my other mentors. In fact, he was the director of my post-doctoral study. He was the chair of the committee of my defense, and with Georges we had a long, long years of interaction, sharing a lot of the ideas that in fact became part of my own research or the research that has been pursued over the years at LAAS. Georges Giralt was leading the robotics research effort at LAAS, and one of the researchers there is Mark Runeau. Mark Runeau was one of my very close colleague, because both of us, we were interested in dynamics. And Mark Runeau, together with Wisama Khalil from Montpellier, were also, the three of us, we were working in different aspect of dynamics. In fact, Wisama and Runeau developed software to generate automatically, symbolically, the dynamic equation of robots, that in fact I used myself in developing some of the dynamic models. But my approach to dynamics, as I said, was based on the idea that we need to understand dynamics at the level of the task. Not just at the level of the joints. So I was doing this transformation and I had a great partner with Mark Runeau for discussion. And Mark Runeau was very close to me in Toulouse. And we shared a lot of moment of discussion on dynamics."