The recent advancements in the field of humanoid robotics have shown a significant shift towards enhancing the adaptability and robustness of these systems. Researchers are increasingly focusing on developing sophisticated control algorithms that integrate whole-body dynamics, predictive modeling, and real-time feedback to achieve more natural and stable locomotion. Notably, the incorporation of soft robotics and adaptive foot designs is revolutionizing the way humanoid robots interact with complex terrains, offering improved obstacle negotiation and stability. Additionally, innovative methods for contact estimation are being developed to enhance the reliability of bipedal robots, particularly in environments where traditional contact sensors may be unreliable or unavailable. These developments collectively push the boundaries of what humanoid robots can achieve, making them more versatile and dependable in real-world applications.