This book is dedicated to the application of metaheuristic optimization in trajectory generation and control issues in robotics. In this area, as in other fields of application, the algorithmic tools addressed do not require a comprehensive list of eligible solutions to effectively solve an optimization problem. This book investigates how, by reformulating the problems to be solved, it is possible to obtain results by means of metaheuristics. Through concrete examples and case studies - particularly related to robotics - this book outlines the essentials of what is needed to reformulate control laws into concrete optimization data. The resolution approaches implemented - as well as the results obtained - are described in detail, in order to give, as much as possible, an idea of metaheuristics and their performance within the context of their application to robotics.