Abstract : This paper presents the humanoid robot Acroban. We study two main issues: 1) Compliance and semi-passive dynamics for locomotion of humanoid robots regarding robustness against unknown external perturbations; 2) The advantages of a bio-inspired multi-articulated vertebral column. We combine mechatronic compliance with structural compliance due to the use of flexible materials. And we explore how these capabilities allow to enforce morphological computation in the design of robust dynamic locomotion. We also investigate the use of compliance to design semi-passive motor primitives using the torso and the arms as a system of accumulation/release of potential/kinetic energy.