Our contribution to the springer handbook on humanoids robotics Humanoid Kinematics and Dynamics: Open Questions and Future Directions. in Humanoid Robotics: A Reference by M. Gienger (Honda Research Institute) and Jochen Steil has appeared online. It focuses on possible future development of humnoid robotics in particular considering soft robotics, learning and simulation in the loop. It thereby builds on the long term collaboration between the authors in humanoid robotics, in particular in the development of learning methods for Honda's ASIMO.