Humanoid robots have great potential to perform various human-level skills. These skills
involve locomotion, manipulation, and cognitive capabilities. Driven by advances in machine …

Locomotion is a fundamental skill for humanoid robots. However, most existing works made
locomotion a single, tedious, unextendable, and passive movement. This limits the kinematic …

Previous humanoid robot research works treat the robot as a bipedal mobile manipulation
platform, where only the feet and hands contact the environment. However, we humans use …