{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,18]],"date-time":"2026-03-18T18:33:02Z","timestamp":1773858782260,"version":"3.50.1"},"reference-count":32,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2020,9,23]],"date-time":"2020-09-23T00:00:00Z","timestamp":1600819200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>The structure of humanoid robots can be inspired to human anatomy and operation with open challenges in mechanical performance that can be achieved by using parallel kinematic mechanisms. Parallel mechanisms can be identified in human anatomy with operations that can be used for designing parallel mechanisms in the structure of humanoid robots. Design issues are outlined as requirements and performance for parallel mechanisms in humanoid structures. The example of LARMbot humanoid design is presented as from direct authors\u2019 experience to show an example of the feasibility and efficiency of using parallel mechanisms in humanoid structures. This work is an extension of a paper presented at ISRM 2019 conference (International Symposium on Robotics and Mechatronics).<\/jats:p>","DOI":"10.3390\/robotics9040075","type":"journal-article","created":{"date-parts":[[2020,9,23]],"date-time":"2020-09-23T09:28:08Z","timestamp":1600853288000},"page":"75","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":32,"title":["Parallel Architectures for Humanoid Robots"],"prefix":"10.3390","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9388-4391","authenticated-orcid":false,"given":"Marco","family":"Ceccarelli","sequence":"first","affiliation":[{"name":"LARM2: Laboratory of Robot Mechatronics, University of Roma Tor Vergata, Via del Politecnico 1, 00133 Rome, Italy"},{"name":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing 100081, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8825-8983","authenticated-orcid":false,"given":"Matteo","family":"Russo","sequence":"additional","affiliation":[{"name":"The Rolls-Royce UTC in Manufacturing and On-Wing Technology, University of Nottingham, Nottingham NG8 1BB, UK"}]},{"given":"Cuauhtemoc","family":"Morales-Cruz","sequence":"additional","affiliation":[{"name":"LARM2: Laboratory of Robot Mechatronics, University of Roma Tor Vergata, Via del Politecnico 1, 00133 Rome, Italy"},{"name":"Instituto Polit\u00e9cnico Nacional, GIIM: Group of Research and Innovation in Mechatronics, Av. Juan de Dios B\u00e1tiz, 07700 Mexico City, Mexico"}]}],"member":"1968","published-online":{"date-parts":[[2020,9,23]]},"reference":[{"key":"ref_1","first-page":"49","article-title":"Biped Walking Robots Created at Waseda University: WL and WABIAN Family","volume":"365","author":"Lim","year":"2007","journal-title":"Philos. Trans. R. Soc. Lond. A Math. Phys. Eng. Sci."},{"key":"ref_2","unstructured":"Chestnutt, J., Lau, M., Cheung, G., Kuffner, J., Hodgins, J., and Kanade, T. (2005, January 18\u201322). Footstep planning for the Honda Asimo humanoid. Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain."},{"key":"ref_3","unstructured":"Kulk, J., and Welsh, J. (2008, January 3\u20135). A low power walk for the NAO robot. Proceedings of the 2008 Australasian Conference on Robotics & Automation (ACRA-2008), Canberra, Australia."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Gouaillier, D., Collette, C., and Kilner, C. 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