1. Mechanical structure

1.1 General design principles

Humanoid robots are complex mechatronic objects. As such, it is necessary to consider the entire mechanical structure, IT structure and algorithms to be used for the intended application. The robot's size, weight and power also have an impact on its structure. Let's take a look at the two main categories of applications mentioned in the introduction: performance in motion generation and validation of biological and/or cognitive models. Boston Dynamics' ATLAS robot is an example of the first category, while the University of Tokyo's Kenshiro