---
publication_id: "OT-2026-000001679"
title: "Humanoid robot with advanced kinematics"
published_at: "2026-09-15T19:07:35.921707Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001679"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/0009"
  - "b25j9/126"
  - "b25j9/126"
  - "b25j17/00"
  - "b25j9/00"
  - "b25j9/0009"
---

# Humanoid robot with advanced kinematics

## 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.