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Progress in research on planning and control of humanoid robot locomotion in unstructured environments
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Yifeng CAO1, Junpeng HE2, Bingxian LI1, Lili FAN3, Yonglin TIAN4, Weisong WEN1, Dongpu CAO5, *
Science & Technology Review | 2025, 43(20) : 93 - 104
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Science & Technology Review | 2025, 43(20): 93-104
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Progress in research on planning and control of humanoid robot locomotion in unstructured environments
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Yifeng CAO1, Junpeng HE2, Bingxian LI1, Lili FAN3, Yonglin TIAN4, Weisong WEN1, Dongpu CAO5, *
Affiliations
  • 1Department of Aeronautical and Aviation Engineering, Hong Kong Polytechnic University, Hong Kong 999077, China
  • 2Department of Electrical and Computer Engineering, University of Waterloo, Waterloo N2L3G1, Canada
  • 3School of Artificial Intelligence, Beijing Institute of Technology, Beijing 100081, China
  • 4State Key Laboratory for Management and Control of Complex Systems, Chinese Academy of Sciences, Beijing 100190, China
  • 5State Key Laboratory of Intelligent Green Vehicle and Mobility, Tsinghua University, Beijing 100084, China
Published: 2025-10-28 doi: 10.3981/j.issn.1000-7857.2025.09.00065
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Humanoid robots, benefiting from their human−like morphology and locomotion capability, are regarded as promising platforms for future service, rescue, and industrial applications; however, achieving stable and reliable walking in unstructured environments remains highly challenging. This paper provides a comprehensive review of recent advances in humanoid locomotion planning and control, with a focus on gait planning, trajectory generation, whole−body control, and learning−driven approaches. We summarize the core concepts and implementation frameworks of representative methods, compare their applicable scenarios, strengths, and limitations, and present a hierarchical categorization of existing research. Moreover, this work discusses key technical bottlenecks that hinder environmental adaptability and dynamic stability. Finally, we outline future research directions, including multimodal perception integration, co−optimization of learning and control, whole−body motion skill learning, and safety assurance, and offer suggestions toward standardization and large−scale deployment.

humanoid robots  /  footstep planning  /  trajectory planning  /  locomotion control
Yifeng CAO, Junpeng HE, Bingxian LI, Lili FAN, Yonglin TIAN, Weisong WEN, Dongpu CAO. Progress in research on planning and control of humanoid robot locomotion in unstructured environments[J]. Science & Technology Review, 2025 , 43 (20) : 93 -104 . DOI: 10.3981/j.issn.1000-7857.2025.09.00065
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doi: 10.3981/j.issn.1000-7857.2025.09.00065
  • Receive Date：2025-09-06
  • Online Date：2025-12-29
  • Published：2025-10-28
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History
  • Received：2025-09-06
  • Revised：2025-10-11
Affiliations
    1Department of Aeronautical and Aviation Engineering, Hong Kong Polytechnic University, Hong Kong 999077, China
    2Department of Electrical and Computer Engineering, University of Waterloo, Waterloo N2L3G1, Canada
    3School of Artificial Intelligence, Beijing Institute of Technology, Beijing 100081, China
    4State Key Laboratory for Management and Control of Complex Systems, Chinese Academy of Sciences, Beijing 100190, China
    5State Key Laboratory of Intelligent Green Vehicle and Mobility, Tsinghua University, Beijing 100084, China
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多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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