OPENTECHNICAL PUBLICATION
OT-2026-000001679

Humanoid robot with advanced kinematics

Published: 2026-09-15T19:07:35.921707Z
Permanent URL: https://opentechnical.org/p/OT-2026-000001679
Categories: Robotics & Automation > Robot Architectures

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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.

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OpenTechnical publication OT-2026-000001679
Published 2026-09-15T19:07:35.921707Z
https://opentechnical.org/p/OT-2026-000001679