Motion

In humanoid robotics, motion is the visible result of perception, planning, and physics-aware actuation working in sync. Smooth, adaptive movement communicates capability.  Awkward motion breaks trust and limits usability.

Early systems used hand-tuned scripts for gestures, gait cycles, and reaching. Today, motion is often learned. Deep models synthesize trajectories from motion capture, video, or simulation. Controllers blend planned motion with corrections from real-time sensory feedback.Advanced techniques like motion retargeting and skill composition allow robots to adapt human demonstrations and combine actions fluidly. Multi-contact planning and whole-body predictive control now support dynamic, task-aware movement across varied environments.