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In this work, we present WALK‐MAN, a humanoid platform that has been developed to operate in realistic unstructured environment, and demonstrate new skills including powerful manipulation, robust balanced locomotion, high‐strength capabilities, and physical sturdiness. To enable these capabilities, WALK‐MAN design and actuation are based on the most recent advancements of series elastic actuator drives with unique performance features that differentiate the robot from previous state‐of‐the‐art compliant actuated robots. Physical interaction performance is benefited by both active and passive adaptation, thanks to WALK‐MAN actuation that combines customized high‐performance modules with tuned torque/velocity curves and transmission elasticity for high‐speed adaptation response and motion reactions to disturbances. WALK‐MAN design also includes innovative design optimization features that …