"Well, this is really interesting, an interesting question. Looking back at my Ph.D. where I started, looking at the vision I had in that work, I feel like I’m still working on my Ph.D. That is from the beginning, I took on a challenge, which is to try to understand the robot system with respect to descriptions of the task. That is, to try to not just worry about modeling the physical robot in a convenient space, which is essentially the joint space. I was interested in understanding the characteristics of the robot when it’s interacting at a given point with the environment. What would be the effective masses that I will feel here when I’m going to touch the environment? What is the normal space in which I can exert forces and what would be the corresponding tangent space where I can move? A lot of questions related to the dynamics and the control of robots in task space have not been really fully addressed. There are few people around the world who really look at those problem. Neville Hogan thought about it in the context of analyzing human motion and proposed very interesting models using impedance control. There are a number of other researchers who looked at those problems, but synthesis in task space has not been something that a lot of work was done in, and that was really one of the things that I was committed to pursue and to work on. So there was that work that was taking me from thinking about how, “Can we control just one effector?” Then how can we go from one effector that is not only moving in free space, but obviously interacting with the environment? But then how can we go from one robot end effector to two end effectors? How can we do comparative manipulation when we start to have internal forces? Then how can we have general cooperation between multiple robots? Then how can we make this robot mobile manipulators? Just behind me you can see Romeo and on this side you have Juliet. These are the two platforms that we developed to explore the workspace of a human. That is, we always thought about these manipulators attached to a table and bringing the component to be assembled by those robots."