01
Why Humanoids?
Humanoid morphology is useful when robots must operate in environments designed around human dimensions: stairs, door handles, tools, work surfaces, vehicles, and human-oriented infrastructure.
02
Bipedal Locomotion
Walking requires managing balance while continuously changing support contacts. A humanoid must coordinate body motion, feet, joint torques, and contact forces.
- Center of mass control.
- Footstep planning.
- Contact stability.
- Whole-body inverse dynamics.
- Balance recovery.
03
Whole-Body Control
Humanoid tasks frequently couple locomotion and manipulation. Whole-body controllers coordinate many joints simultaneously while respecting physical constraints and task priorities.