Humanoid robots are biped walking robots which are similar to human beings. As a result, the public has a lot of interests in seeing the advances in the development of humanoid robotics. So far, the most impressive versions of humanoid robots are Honda’s ASIMO, Sony’s QRIO, KAIST’s HUBO, and Boston Dynamics’s Atlas. The new additions to the list include Tesla’s humanoid robots and many others. Therefore, it would be interesting for us to share our experiences gained from the development of Singapore’s humanoid robots since 2008. In this talk, I will adopt a pedagogic way of outlining the key steps toward the development of advanced humanoid robots. Particularly, I will explain the details from the viewpoints of energy flow, signal flow, motion flow, and knowledge flow inside humanoid robots. – Xie Ming