---
publication_id: "OT-2026-000001666"
title: "Humanoid robot having common actuator components"
published_at: "2026-09-15T19:07:29.443368Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001666"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/126"
  - "b25j9/126"
  - "b25j9/126"
  - "b25j9/12"
---

# Humanoid robot having common actuator components

## Abstract

A humanoid robot comprising an upper portion with a torso, left elbow, left fingertip, and actuators including four electrical actuators between the left elbow and fingertip (each with motor peak torque below 0.12 Nm), and two electrical actuators between the torso and left elbow (each with motor peak torque above 1.3 Nm). A lower portion includes a shin with an electrical actuator having motor peak torque above 0.75 Nm. A central portion between the upper and lower portions includes a pelvis with a hip flex electrical actuator directly coupled to the pelvis having motor peak torque above 3.5 Nm.