Humanoid robots can achieve increasingly complex functions and adapt to more complex environments. To boost the development of humanoid robot technology, a team at Beijing Institute of Technology initiated the research on humanoid robots from 2000. Their research primarily focuses on stable walking, whole-body complex motion, human-robot interaction, and multimodal motion of humanoid robots. Thus far, the team has developed 6 generations of humanoid robots. The latest humanoid robot, BHR-6P,

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... achieve multi-mode motions (for example, walk, jump, fall protection, crawl and roll), which will significantly improve the ability of robot to adapt to the environment. This paper presented the historical evolution of BHR humanoid robots and outlined their functions and features.