  This short paper outlines two recent works on multi-contact teleoperation and
the development of the SEIKO (Sequential Equilibrium Inverse Kinematic
Optimization) framework. SEIKO adapts commands from the operator in real-time
and ensures that the reference configuration sent to the underlying controller
is feasible. Additionally, an admittance scheme is used to implement physical
interaction, which is then combined with the operator's command and retargeted.
SEIKO has been applied in simulations on various robots, including humanoid and
quadruped robots designed for loco-manipulation. Furthermore, SEIKO has been
tested on real hardware for bimanual heavy object carrying tasks.
