Abstract
Most of the biped robots or humanoid robots developed so far have been designed with serialactuated mechanism. the ratio between power and weight has not been very good. Some abilities of the humanoid robot are dependent on the weakest motor just like the cannikin law. Most of the human joints are not serial-actuated but parallel-actuated except the knee joint which is a one DOF joint. In the study, two kinds of module are put forward: basic module and composite module, and the configurations of the joints and limbs are designed by these modules. Based on logic diagram, many kinds of the humanoid robot are structured with these joints and limbs. As an applicable example, the humanoid robot SJTU-HR1 is presented.
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