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Conductive hydrogels that are highly elastic, fatigue resistant and environmentally adaptive are promising materials in the fields of wearable electronics, bioelectronics and soft robotics. However, these materials are challenging to develop, especially for use in harsh environments including organic solvents and extreme temperatures. Here we report a simple method for the fabrication of highly compressible and fatigue-resistant conductive hydrogels with reinforced-concrete-type constituents and high-tortuosity interconnected cellular architecture through a self-assembly and two-stage in situ polymerization process. The obtained composites exhibit excellent mechanical compressibility with negligible residual strain at 50% strain for >104 cyclic loadings both in air and water. Due to the structure-favoured anisotropic response to tensile deformations coupled with elastic recovery, the hydrogel is endowed with sensing dimensions which allow the direction and velocity of movement on the sensor surface to be distinguished. In addition, by interpenetrating with an oleophilic polymer network, highly elastic and adaptive organohydrogels are developed with outstanding sensing performance in a wide variety of organic solvents and cryogenic temperatures. These materials may therefore be suitable for use in flexible and wearable devices in harsh environments.

Using natural catechin-assembled nanostructures as electron bridging agents, we developed smart hydrogel strain sensors with excellent performances on transparency, conductivity, self-adhesion, biocompatibility and self-healability.

Using casein-assembled nanostructures as crosslinkers, we developed hydrogels with remarkable mechanical performances, excellent adhesive, biocompatible and self-healing properties, demonstrating their potential applications as flexible sensors.

Skin-mountable capacitive-type strain sensors with great linearity and low hysteresis provide inspiration for the interactions between human and machine. For practicality, high sensing performance, large stretchability, and self-healing are demanded but limited by stretchable electrode and dielectric and interfacial compatibility. Here, we demonstrate an extremely stretchable and self-healing conductor via both hard and soft tactics that combine conductive nanowire assemblies with double dynamic network based on π-π attractions and Ag-S coordination bonds. The obtained conductor outperforms the reported stretchable conductors by delivering an elongation of 3250%, resistance change of 223% at 2000% strain, high durability, and multiresponsive self-healability. Especially, this conductor accommodates large strain of 1500% at extremely knotted and twisted deformations. By sandwiching hydrogel conductors with a newly developed dielectric, ultrahigh stretchability and omni-healability are simultaneously achieved for the first time for a capacitive strain sensor inspired by metal-thiolate coordination chemistry, showing great potentials in wearable electronics and soft robotics.

Direct and rapid printing and surface patterning of hydrogel thin films are of great significance in the construction of advanced electronic devices, yet they are greatly underdeveloped due to the intrinsic contradiction between mechanical strength and self-healability as well as recyclability. Here, we present a universal and rapid slipping-directed route with a newly developed water-soluble star polymer hydrogel for direct and reproducible printing and patterning of freestanding functional thin films with precisely controlled thicknesses, components, and surface structures on a large scale. The resulting thin films combine the features of large transmittance (93%), tough mechanical strength (114 MPa), multiresponsive self-healability, recyclability, and remarkable multifunctionality. With the unique humidity-sensitive properties as motivation, diverse humidity-sensing devices including an actuating switch, a supercapacitive sensor, and a noncontact electronic skin are facilely constructed through the humidity-induced transverse, longitudinal, and patterning assembly techniques, respectively. The method presented here is universal and efficient in the fabrication and assembly of thin films with controlled configuration and functionality for advanced flexible electronics.

Soft matter catalyst system allowing controllable manipulation of the organized nanostructure and surface property holds the potential for renewable energy. Here we demonstrate the construction of a continuously regenerative hydrogel photocatalyst that confines the metal-thiolate coordination induced nanocavity into robust micro-sized spongy network for water splitting. Thanks to low vaporization enthalpy and fast proton mobility of water molecules confining in nanocavities, the composite delivers outstanding photocatalytic H

Self-healability is essential for supercapacitors to improve their reliability and lifespan when powering the electronics. However, the lack of a universal healing mechanism leads to low capacitive performance and unsatisfactory intelligence. Here, we demonstrate a multi-responsive healable supercapacitor with integrated configuration assembled from magnetic Fe3O4@Au/polyacrylamide (MFP) hydrogel-based electrodes and electrolyte and Ag nanowire films as current collectors. Beside a high mechanical strength, MFP hydrogel exhibits fast optical and magnetic healing properties arising from distinct photothermal and magneto-thermal triggered interfacial reconstructions. By growing electroactive polypyrrole nanoparticles into MFP framework as electrodes, the assembled supercapacitor exhibits triply-responsive healing performance under optical, electrical and magnetic stimuli. Notably, the device delivers a highest areal capacitance of 1264 mF cm−2 among the reported healable supercapacitors and restores ~ 90% of initial capacitances over ten healing cycles. These prominent performance advantages along with the facile device-assembly method make this emerging supercapacitor highly potential in the next-generation electronics., Self-healing property is important for supercapacitors when powering the electronics, but designing devices that possess a universal healing mechanism remains challenging. Here, the authors achieve an optically, electrically, and magnetically-responsive self-healing device with integrated configuration.

Realizing autonomous self-healing and high stretchability of flexible supercapacitors over a wide temperature range remains a big challenge because of simultaneous incorporation of self-healing, stretchable and temperature-tolerant elements into a device as well as unfavorable electrochemical kinetics in harsh conditions. Here, we demonstrate for the first time an autonomous self-healing and intrinsically stretchable supercapacitor that can work at all-climate environments assembled by universally self-healing and highly stretchable organohydrogel electrodes with record-high temperature-invariant conductivity of ∼965 S/cm. Benefiting from multiple hydrogen bonding and dynamic metal coordination combined with electrochemistry-favorable components and integrated device configuration, the supercapacitor exhibits outstanding long-term stability, high stretchability, instantaneous and complete capacitive self-healability, and real-time mechanical healing at harsh temperatures from -35 to 80 °C. The superiorities in stretchability, self-healability, and all-climate tolerance enable the supercapacitor presented here as the best performer among the flexible supercapacitors reported to date.

Inspired by smart biological tissues, artificial muscle-like actuators offer fascinating prospects due to their distinctive shape transformation and self-healing function under external stimuli. However, further practical application is hindered by the lack of simple and general routes to fabricate ingenious soft materials with anisotropic responsiveness. Here, we describe a general in situ polymerization strategy for the fabrication of anisotropic hydrogels composed of highly-ordered lamellar network crosslinked by the metal nanostructure assemblies, accompanied with remarkably anisotropic performances on mechanical, optical, de-swelling and swelling behaviors. Owing to the dynamic thiolate-metal coordination as healing motifs, the composites exhibit rapid and efficient multi-responsive self-healing performance under NIR irradiation and low pH condition. Dependent on well-defined anisotropic structures, the hydrogel presents controllable solvent-responsive mechanical actuating performance. Impressively, the integrated device through a healing-induced assembly way can deliver more complicated, elaborate forms of actuation, demonstrating its great potentials as superior soft actuators like smart robots., The development of artificial muscle-like actuators is often hampered by the lack of general fabrication routes towards anisotropic responsive materials. Here, the authors fabricate anisotropic hydrogels by an in-situ polymerization strategy of a lamellar network, crosslinked by metal nanostructure assemblies.

Developing cost-efficient alternatives to the noble metal catalysts toward oxygen reduction reaction (ORR) has attracted much attention. Herein, a kind of mesoporous hollow spindlelike Fe–N–C electrocatalysts with iron carbide nanoparticles encased in the N-doped graphitic layers has been synthesized by a novel “reactive hard template” strategy through the Fe3+-assisted polymerization of dopamine on the Fe2O3 cores and the following calcinations. The Fe2O3 nanospindles not only as the hard template guide the formation of well-defined shape and structure of the catalyst but also as the reactive template provide Fe reservoir to generate Fe3C nanoparticles in the catalyst during the thermochemical process. The superiority in accessible active sites of Fe–Nx species, Fe3C nanoparticles in graphenelike layers, and highly mesoporous hollow structure enables the catalysts to exhibit excellent ORR performances including high catalytic activity, outstanding long-term cycling stability, and good tolerance to methanol.

Summary Macroscopic assembly can create advanced materials with hierarchical structure and translate the properties of individual building blocks into ensembles for specific applications. Here, we demonstrate the fabrication of freestanding graphene oxide (GO) films composed of only two Langmuir-Blodgett-induced monolayers under the synergy of wrinkled GO nanosheets and strong noncovalent interaction between GO and melamine. We found that the strongest noncovalent interaction ever measured (∼1 nN) was a synergistic effect of a charge-transfer interaction and hydrogen bonding. The as-obtained film delivered a large optical transmittance of 84.6% at 550 nm and a high mechanical strength of 45 MPa at a notable elongation of 3.5%. The reduced GO film, with a resistance of 420 Ω sq −1 , exhibited excellent electromechanical stability for 10,000 cycles at a bend radius of 1.5 mm. With the merits of a unique structure and outstanding properties, such an ultrathin film demonstrates its potential in the application of all-solid-state flexible supercapacitors.

Summary Synthetic materials capable of self-healing when damaged have attracted increasing attention and have been developing rapidly because of their many potential applications. Despite great achievements, there is an urgent need to advance the mechanical properties and reduce the time for healing simultaneously because of limited branch functionality and poor polymer mobility. Here, we report robust and smart hydrogels prepared using multi-vinyl-modified gold nanoparticles through a thiolate-gold coordination interaction as large crosslinkers. As a result of efficient energy dissipation from dynamic gold crosslinks with enhanced branching, hydrogels exhibit excellent elasticity with increased mechanical strength at high elongation, even when notched. Combined with thiolate-gold interaction as a healing motif and a notable optothermal effect of nanoparticles, hydrogels deliver rapid self-healing with optimal efficiency of nearly 96% under near-infrared irradiation in 1 min. These properties may shed light on promising applications for this kind of hydrogel in biomedicine and engineering.

Polymeric hydrogels prepared using organic crosslinking agents usually possess severely heterogeneous aggregation of crosslinking points because of their irregular free-radical polymerization, and the resulting mechanically weak and brittle properties greatly limit their potential applications. A straightforward strategy to improve their mechanical performance can be a combination of a uniform polymer network and a high healing capability, beneficial to restoring their structures and properties for practical applications. Herein, a facile and general strategy was reported to fabricate mechanically tough and highly efficient healable hydrogels composed of a chemically crosslinked network and metal-ligand coordination crosslinks, accompanied with highly stretchable, elastic and notch-insensitive properties. Combined with ultraviolet (UV)-responsive organic crosslinking agents, the resulting hydrogels made it possible to improve the dispersion of crosslinking points in the polymer network. The mechanical strength could be further enhanced through the introduction of metal ions (e.g., Ag+, Mn2+, Fe3+, Co2+, Ni2+, and Cu2+) in the formation of metal coordination interaction. Excitingly, in light of dynamic metal-ligand coordination as a healing motif, an optimal healing efficiency of 85% in 30 s could be achieved when exposed to microwave irradiation. Furthermore, hydrogels with excellent antibacterial activity and cell viability have been demonstrated, showing great potential as surgical dressings to accelerate wound closure.

Developing cost-efficient alternatives to the noble metal catalysts toward oxygen reduction reaction (ORR) has attracted much attention. Herein, a kind of mesoporous hollow spindlelike Fe-N-C electrocatalysts with iron carbide nanoparticles encased in the N-doped graphitic layers has been synthesized by a novel "reactive hard template" strategy through the Fe

A facile strategy for the fabrication of ultralarge (edge length >50 μm), single-crystalline Ag nanomembranes is reported in this work. The Ag nanomembrane with an atomically smooth surface demonstrates a much longer surface plasmonic propagation length as compared to vacuum-deposited polycrystalline Ag film, representing superior plasmonic properties.

Iron oxide (Fe2 O3 ) is a promising anode material for next-generation high-energy lithium-ion batteries owing to its high theoretical specific capacity, but it suffers from unstable electrochemistry, as represented by a significant volume variation upon (de)lithiation and unstable solid-electrolyte interface. To target these issues, a double-coating synthetic route has been developed to prepare a yolk-shell-structured γ-Fe2 O3 /nitrogen-doped carbon composite, in which spindle-like γ-Fe2 O3 cores are encapsulated in the highly conductive carbon shell. Through precisely controlling the void space between the γ-Fe2 O3 core and the carbon shell, volume variation in γ-Fe2 O3 during (de)lithiation is well accommodated, while the composite maintains an intact and relatively dense structure, which stabilizes the solid-electrolyte interface and is beneficial for improving the practical energy density of the material. With a stabilized (de)lithiation electrochemistry and a synergistic storage effect between the two active components, the composite enables excellent lithium storage performance, in terms of reversible capacity, cycling ability, and rate capability.

A range of calcium metasilicate–silver promoted-anatase (Ag–TiO 2 –CaSiO 3 ) photocatalysts was obtained by photoreduction and physisorption methods. The calcium metasilicate (CaSiO 3 ) materials were prepared by chemical precipitation technology. The structure and morphology of photocatalysts were investigated by scanning electron microscopy (SEM), transmission electron microscopy (TEM) and X-ray photoelectron spectroscopy (XPS) characterization methods. The results show that the anatase (TiO 2 ) and silver promoted-anatase (Ag–TiO 2 ) particles were evenly distributed on the surface of calcium silicate material. After the activity of photocatalysts was evaluated through the degradation rate of methyl orange (MO), the results showed that the 4% Ag–TiO 2 /CaSiO 3 products have higher activity during the reaction, and the products showed excellent reusability after that these were repeated five times. The sample of Ag–TiO 2 /CaSiO 3 exhibits activity of MO degradation under visible light ( λ >400 nm) because of the active sites of Ag nanoparticles. The novel composite photocatalysts might have potential applications in the treatment of environmental pollution.

In the study, PAN/β-cyclodextrin (β-CD) one dimensional composite nanofibers were synthesized with sol-gel method and electrospinning, and then, we dipped the composite nanofibers into NaBH4 aqueous solution acted as reducing agent to fabricate PAN/β-CD/Cu composite nanofibers. We got the PAN/β-CD/Cu composite nanofibers with different concentration of β-CD, and Cu nanoparticles formed on its surface. The final products were characterized using scanning electronic microscope (SEM), fourier transform infrared spectroscopy (FTIR) and transmission electron microscope (TEM). The results of characterization showed that the Cu nanoparticles with small size were well-distributed on the composite nanofibers.

In addition to a high specific capacitance, a large stretchability and self-healing properties are also essential to improve the practicality and reliability of supercapacitors in portable and wearable electronics. However, the integration of multiple functions into one device remains challenging. Here, the construction of a highly stretchable and real-time omni-healable supercapacitor is demonstrated by sandwiching the polypyrrole-incorporated gold nanoparticle/carbon nanotube (CNT)/poly(acrylamide) (GCP@PPy) hydrogel electrodes with a CNT-free GCP (GP) hydrogel as the electrolyte and chemically soldering an Ag nanowire film to the hydrogel electrode as the current collector. The newly developed dynamic metal-thiolate (M-SR, M = Au, Ag) bond-induced integrated configuration, with an intrinsically powerful electrode and electrolyte, enables the assembled supercapacitor to deliver an areal capacitance of 885 mF cm-2 and an energy density of 123 µWh cm-2 , which are among the highest-reported values for stretchable supercapacitors. Notably, the device exhibits a superhigh stretching strain of 800%, rapid optical healing capability, and significant real-time healability during the charge-discharge process. The exceptional performance combined with the facile assembly method confirms this multifunctional device as the best performer among all the flexible supercapacitors reported to date.

Copper (Cu) containing composite nanofibres was prepared by electrospinning and the high-pressure hydrogenation method. Copper nitrate has been mixed in the polymeric precursor solution before electrospinning. The nanofibres were characterised by using scanning electron microscopy, UV–vis spectroscopy, energy dispersive spectroscopy, transmission electron microscopy and X-ray photoelectron spectroscopy. The observations revealed the embedding of polyacrylonitrile (PAN) nanofibres with Cu nanoparticles. It was also found that Cu nanoparticles were significantly protected by PAN nanofibres. The combination of electrospinning and the high-pressure hydrogenation method will provide a new approach to producing the functional materials with various applications.

A highly conductive sulfur cathode is crucial for improving the kinetic performance of a Li-S battery. The encapsulation of sulfur in porous nanocarbons is expected to benefit the Li(+) migration, yet the e(-) conduction is still to be improved due to a low graphitization degree of a conventional carbon substrate, especially that pyrolyzed from carbohydrates or polymers. Aiming at facilitating the e(-) conduction in the cathode, here we propose to use ketjen black, a highly graphitized nanocarbon building block to form a conductive network for electrons in a biomass-derived, hierarchically porous carbon sponge by a easily scaled-up approach at a low cost. The specifically designed carbon host ensures a high loading and good retention of active sulfur, while also provides a faster electron transmission to benefit the lithiation/delithiation kinetics of sulfur. The sulfur cathode prepared from the carbon network shows excellent cycling and rate performance in a Li-S battery, rendering its practicality for emerging energy storage opportunities such as grids or automobiles.

The application fields of hydrogels are often severely limited by their weak mechanical performance. It is therefore highly demanded to develop an effective strategy to fabricate mechanically strong hydrogels. Herein, a kind of bioinspired ternary hydrogel consisting of graphene oxide (GO) nanosheets, xonotlite nanowires, and polyacrylamide (PAM) is constructed under the synergy of hydrogen bonding-induced GO/xonotlite network and the penetrated PAM chain network. Benefiting from the effective energy dissipation mechanism caused by double-network structural design and the strong hydrogen bonding interaction between two nanobuilding blocks, the gel exhibits a high toughness of 22 MJ m-3 at an elongation of 2750%. Even notched with 1/4 size, it still holds a large extensibility of 2180% its initial length. These high-performance hydrogels could be of great interest in the fields of tissue engineering and biomedical areas.

Mechanical properties of free-standing single layers of Pt nanocrystals with particle diameters of 1.5 nm and 3.0 nm were examined via AFM by fitting force–indentation curves. It showed that the Young's moduli of Pt membranes were in the range of 1–10 GPa and fracture strengths were in the range of 1–30 MPa.

A new voltammetric sensor, Langmuir – Blodgett (LB) film of a p-tert-butylcalix[4]arene derivative modified glassy carbon electrode, was designed and successfully used in simultaneous determination of Tl þ and Pb 2þ by square-wave anodic stripping voltammetry. Under the optimum experimental conditions, this newly developed sensor reveal good linear response for Tl þ and Pb 2þ in the concentration range of 3 � 10 � 8 –4 � 10

The orientation and state of organization of polymer chains play significant roles in determining the final properties and functions of these materials. Unlike most semicrystalline polymers, which have an inherent driving force toward crystallization, the means to control chain packing in noncrystallizable polymers is still restricted and remains a challenge. We report herein a 2D soft template-directed fabrication for ultrathin polyacrylamide nanosheets with a thickness as low as 3.5 nm and large dimensions (20 μm). More importantly, the polymer chains in the nanosheets produced are well aligned with a clear interchain spacing. The formation of polymer nanosheets with ordered chain alignment was performed in a special solution containing a periodic sandwich structure of lamellar bilayer membranes and water layers that are hundreds of nanometers thick. It functions as a 2D orientation template to align the monomers in an orderly manner along the in-plane direction of the bimolecular membrane via hydrogen bonding.

Herein, the use of a 2D soft template system composed of hundred-nanometer-thick water/ethanol mixed layers sandwiched by lamellar bilayer membranes of a self-assembled amphiphilic molecule to produce ultrathin polyprrole (PPy) with a uniform thickness as thin as 3.8 nm and with large dimensions (>2 μm(2)) is presented. The obtained PPy nanosheets exhibit regioregularity with ordered chain alignment where the polymer chains in the nanosheets produced are well aligned with a clear interchain spacing as confirmed by small-angle X-ray scattering measurement. The molecular-level-thick PPy nanosheets exhibit extremely high conductivity up to 1330 S m(-1), thanks to the ordered alignment of polymer chains in the nanosheets, and a high transparency in both the visible region (transmittance >99%) and near-infrared region (transmittance >93%).

Exploration of an effective route to achieve the controlled growth of two-dimensional (2D) molecular crystal is of scientific significance yet greatly underdeveloped due to the complexity of weak intermolecular interactions, thus leading to difficulty of inducing anisotropic 2D growth. We report here a facile nanowire oriented on-surface growth strategy for the fabrication of cystine crystalline nanosheets with finely controlled thickness (1.1, 1.9, 2.9, and 4.8 nm which correspond to one layer, two layers, three layers, and five layers of crystal cystine, respectively) and large areas (100 μm(2)). The cystine crystalline nanosheets display chirality delivered by chiral cysteine monomers, either l-cysteine or d-cysteine. The chiral nanosheets with structural precision and chemical diversity could serve as a novel 2D platform for constructing advanced hybrid materials.

We propose a remotely pumped EDFA and tunable transmitter-based 40-Gb/s/λ downstream and 10-Gb/s/λ upstream transmissions long-reach WDM-PON scheme and an optical beat noise-based novel automatic wavelength control method for tunable transmitter. Transmissions of 40-Gb/s DQPSK downstream using MZ Modulator and 10-Gb/s OOK upstream using optical beat noise-based self wavelength managed tunable transmitter are demonstrated with 40-km fiber.

Hydrogels are generally thought to be formed by nano- to micrometre-scale fibres or polymer chains, either physically branched or entangled with each other to trap water. Although there are also anisotropic hydrogels with apparently ordered structures, they are essentially polymer fibre/discrete polymer chains-based network without exception. Here we present a type of polymer-free anisotropic lamellar hydrogels composed of 100-nm-thick water layers sandwiched by two bilayer membranes of a self-assembled nonionic surfactant, hexadecylglyceryl maleate. The hydrogels appear iridescent as a result of Bragg's reflection of visible light from the periodic lamellar plane. The particular lamellar hydrogel with extremely wide water spacing was used as a soft two-dimensional template to synthesize single-crystalline nanosheets in the confined two-dimensional space. As a consequence, flexible, ultrathin and large area single-crystalline gold membranes with atomically flat surface were produced in the hydrogel. The optical and electrical properties were detected on a single gold membrane.

Polymeric nanosheets organized by molecular building blocks bearing specifically oriented reactive groups provide abundant and versatile strategies for tailoring structure and chemical functionality periodically over extended length scales that complement graphene. Here we report the bulk synthesis of free-standing polymeric nanosheets via spatially confined polymerization from an elaborate 2D supramolecular system composed of two liquid-crystalline lamellar bilayer membranes of a self-assembled nonionic surfactant--dodecylglyceryl itaconate (DGI)--sandwiched by a water layer. By employing a covalent polymerization on the lamellar bilayer membranes, single-bilayer-thick (4.2 nm), and large area (greater than 100 μm(2)) polymeric nanosheets of bilayer membranes are achieved. The polymeric nanosheets could serve as a well-defined 2D platform for post-functionalization for producing advanced hybrid materials by introducing the reactions on the hydroxyl groups at the head of DGI on the outer surfaces.

A novel strategy for the one-pot fabrication of free-standing polypyrrole films is presented in this work. The films are spontaneously formed at an air/ionic liquid interface through interface oxypolymerization. The thicknesses of the films are finely controlled from tens to hundreds of nanometers, and the films are uniform and compact. Asymmetrical films with different smoothness on the two sides of the film are also obtained and exhibit different water wettability. This method is extremely simple and does not need any equipment. It may bring about a general methodology for forming free-standing conducting polymer films.

This paper gives the theoretical method to determine water-coming volume by using pseudo-tracer. According to the flow mechanism of tracer in reservoirs, the theoretical model of numerical simulation of tracer has been established. The method that is implicit to pressure and explicit to saturation for difference solution of model is used and a numerical simulation software has been designed. The calculation method to ascertain the direction and water-coming volume of pseudo-tracer has been given. The water-coming volumes of four injection wells in Xing 4 to 6 blocks of Daqing Oilfield has been calculated and the direction of water-coming has been estimated. The reasons for remaining oil and the potential exploitation measures have been put forward. The results show that the water-coming volume of injection well sj312 is 19.28 m3, which accounts for 43% of the total water volume. This well is the main inflow direction of this block. Therefore, this research can provide theoretical basis for the remaining oil potential of other blocks.

This paper mainly focuses on the application of CPG based motion control methods for humanoid robots. Firstly, motion control problems of humanoid robots are discussed, and the difference between traditional methods and CPG based methods is pointed out. Then, the biological essence and basic idea of the CPG based control methods are analyzed, and several critical problems of the application of the methods are studied in detail. Finally, the status in quo of the methods is synthesized.

Improving environmental adaptability is a key to the humanoid robot research. A strategy of real-time planning and control was proposed in the paper based on F/T information feedback. The robot lands it's whole sole on the ground by adopting ankle's moment control, calculates the parameters of gait and plans current step based on stability criterion. During walking, posture is real-time regulated according to the information of ZMP to realize the stability. In the end, the walking process was simulated and experiments were developed to confirm this strategy.

This paper presents the basic configuration and control method of the humanoid robot Blackmann, which is developed by the Robot Laboratory in the National University of Defense Technology, China. Blackmann is 1.55 meters tall and 63.5 Kg weight with 36 DOFs, and it was designed to be human-like including two legs, two arms, a trunk and a head. This paper covers the mechanical design, hardware description and motion control schemes of Blackmann, and a kind of dynamical walking control scheme based on FRI point was proposed. Up to now, Blackmann has been built and tested; the embedded control system has been realized and assembled in the body of Blackmann; the basic control schemes based on FRI point and anthropomorphic walking has been realized and further study is in process.