---
publication_id: "OT-2026-000000203"
title: "Humanoid robot"
published_at: "2026-09-15T19:02:36.383315Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000000203"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/0087"
  - "b25j15/10"
  - "b62d57/032"
---

# Humanoid robot

## Abstract

A humanoid robot includes a torso, a left arm assembly coupled to the torso and having a first reference line, a left wrist coupled to the left arm assembly and including at least a rotational axis, and a left end effector coupled to the left wrist. The left end effector is configured to move about the rotational axis and includes a finger assembly with a second reference line and at least two degrees of freedom, and a thumb assembly with at least three degrees of freedom. A first angle is formed between the first and second reference lines when the left wrist is in a first configuration, and a second angle is formed when the left wrist is in a second configuration. Both the first and second angles are greater than 70 degrees, and the difference between the first and second angles is greater than 150 degrees.