Humanoid robots represent the pinnacle of biomimetic machines, possessing a human-like form and motion that enable them to emulate human actions and behaviors. This book is a comprehensive textbook on humanoid-robot technology, covering a broad spectrum of knowledge from fundamental theory to cutting-edge advances. The book systematically explains kinematic and dynamic modelling of humanoid robots, basic walking control, learning-based motion control, navigation control, perception technologies, mechanical design, and practical motion-control applications.Its content is rich and well-structured, emphasizing the systematization, applicability, and frontier nature of the material, and highlighting the novelty of the selected topics. By studying it thoroughly, readers will acquire a solid grasp of the core principles and practical skills of humanoid-robot technology, laying a firm foundation for future research and practice in the field.This textbook can serve as a guidebook for undergraduate students in robotics engineering, automation, artificial intelligence, mechatronics, electronic information, and related graduate programs, and it is also a valuable reference for engineers and researchers engaged in the development and research of humanoid-robot technology.