CHAPTER Calinon_SPRINGER_2019a/IDIAP Learning Control Calinon, Sylvain Lee, D. Vadakkepat, P. Ed. Goswami, A. Ed. EXTERNAL http://publications.idiap.ch/attachments/papers/2018/Calinon_SPRINGER_2018.pdf PUBLIC Humanoid Robotics: a Reference 2019 Springer 1261-1312 https://doi.org/10.1007/978-94-007-7194-9_68-2 URL 10.1007/978-94-007-7194-9_68-2 doi This chapter presents an overview of learning approaches for the acquisition of controllers and movement skills in humanoid robots. The term learning control refers to the process of acquiring a control strategy to achieve a task. While the definition is in some cases restrained to trial-and-error learning, we present here learning control in a broader perspective, with a focus on the representation of skills to be acquired, and on the different learning strategies that can contribute to the acquisition of robust and adaptive controllers for humanoids.