Humanoid robot with advanced kinematics

Abstract

The disclosed humanoid robot is designed to perform diverse, human-like tasks in various environments, from industrial assembly and customer service to every day household chores. These robots possess anthropomorphic features including a head, torso, arms, legs, and hands, enabling complex motions with over 60 degrees of freedom. The upper portion houses over 70% of the DoF, allowing dexterous manipulation, while the central and lower portions are optimized for battery storage and efficient movement. More than 30 electric actuators (mostly rotary) power the humanoid robot, with a strategic arrangement that minimizes mechanical singularities and facilitates tasks such as deep squats and precise reaching. This configuration reduces cost, weight, and maintenance while improving performance and capabilities of said humanoid robot.