What's really interesting are the few gymnastic steps that the Nao cannot yet do, e.g. leaving both feet to a prone position and back up to its feet. That gap s

What's really interesting are the few gymnastic steps that the Nao cannot yet do, e.g. leaving both feet to a prone position and back up to its feet. That gap shows how the steps are fine-grain preprogrammed joint articulations. I would like to see the motion planning developed to the point where the robot is given gross trajectory targets and uses a self-awareness and self-balance mechanism to automatically supply the fine-grain joint articulations.