In the last ten years we have witnessed a shift in humanoid robotics, from position control to torque control. Humanoids are supposed to be capable of dynamic, high-speed motions. They also need to be sensitive enough to handle fragile objects. Moreover, we want humanoids to be safe, so that they can cooperate with humans. Torque control allows these robots to meet all these demanding requirements. The aim of this full-day workshop is to advance the current approaches on whole-body motion and force control. The goal is to get an accurate picture of the state of the art and to understand the challenges of the current research. Possible discussions may regard the hardware limitations of current humanoid platforms, and the open-source software implementations of whole-body control frameworks (e.g. iTasc, Stack of Task, Whole-Body Control Framework).