{
  "abstract": "A humanoid robot, including an upper portion including a torso, a head, and left and right arm assemblies; a lower portion including left and right lower leg assemblies; a central portion coupled to the upper portion and including a spine, a pelvis, and left and right upper leg assemblies. Each upper leg assembly includes a hip flex actuator coupled to the pelvis and having a hip flex axis positioned at a non-zero downward angle relative to a transverse plane of the humanoid robot. The upper leg assembly also includes left and right knee actuators, wherein each knee actuator is an electric rotary actuator, has a knee axis that is co-planar with the hip flex axis, and has a momentary peak torque greater than a momentary peak torque of the torso twist actuator. The humanoid robot lacks a distinct torso pitch actuator and wherein the hip flex actuators are collectively arranged to provide for pitch movements of the torso.",
  "assignees": [
    "FIGURE AI INC"
  ],
  "authors": [
    "BRIONES BRAVO JOSE DOMINGO",
    "HORTON SARAH",
    "RAGUSILA VICTOR",
    "STEVENS MICHAEL",
    "WEBB JACOB",
    "WOOD JOSEPH",
    "ZOHNY BASEL"
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  "source_date": "2026-03-19",
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  "title": "Humanoid robot with advanced kinematics",
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