Abstract: Everyday environments, such as urban or industrial settings, contain clutter and rough terrain topography. Traditionally, the approach to deal with those scenarios has been based on avoiding the clutter or by using low profile mobile robotic systems that can maneuver in the terrains. An exception to these approaches is the use of legged humanoid robots, where their small footprint and highly articulated bodies enable them to maneuver in the difficult environments. However, research addressing those sophisticated skills is still at a very early developmental stage. In this talk, I will present my research pursuit in two separate areas related to the previous problems: (1) on enabling mobile humanoid robots to maneuver in rough terrains while engaging into contact with the cluttered environment, and (2) on planning locomotion and multicontact trajectories of legged humanoids in extreme terrains. In particular, I will focus on the areas of compliant models for mobility, robust control of gaits in rough terrains, and the whole-body control software architecture. Examples using our humanoid robots Dreamer and Hume will be shown and discussed.