Joints

Joints define how humanoid robots move. They connect limbs, control rotation or translation, and determine each degree of freedom. Managing joints is central to balance, dexterity, and coordinated whole-body motion.

Designs include rotary joints, prismatic sliders, and — in experimental systems — soft continuum joints. More joints enable finer control, but increase complexity, weight, and power demands.Modern humanoids rely on modular, sensorized, and backdrivable joints to support compliant interaction, fall recovery, and safe manipulation. The art of joint design is balancing precision, speed, and force while keeping control achievable.