On the 11.10., IRP welcomes Prof. Abderrahmane Kheddar upon the occasion of the PhD defense of Niels Dehio, in which he participates as external reviewer. He gives a talk on "Multi-(objectives/robots/modal) control of humanoids using Quadratic Programming" featuring the long term efforts of his group to generate full-body motion for humanoid robots based on Quadratic Programming. Prof. Kheddar is one of the most prolific and renowned researchers in humanoid robotics and model-based robotic control. He serves as Directeur de Recherche at CNRS and Director of the CNRS-AIST, the Joint Robotic Laboratory of JST and CNRS in Tsukuba, Japan and has coordinated a large number of international projects and activities, see more e.g. at http://jrl-umi3218.github.io/member-kheddar.html.