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Therefore, to pursue studies in relation to autonomy with efficient locomotion, the authors have been developing a new teen-sized humanoid platform with hybrid characteristics. The hybrid nature is clear in the mixed actuation based on common electrical motors and passive actuators attached in parallel to the motors. This paper presents the mechatronic design of the humanoid platform, focusing mainly on the mechanical structure, the design and simulation of the hybrid joints, and the different subsystems implemented. Trying to keep the appropriate human proportions and main degrees of freedom, the developed platform utilizes a distributed control architecture and a rich set of sensing capabilities, both ripe for future development and research.<\/jats:p>","DOI":"10.5772\/51535","type":"journal-article","created":{"date-parts":[[2012,10,11]],"date-time":"2012-10-11T09:28:17Z","timestamp":1349947697000},"update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":5,"title":["Mechatronic Design of a New Humanoid Robot with Hybrid Parallel Actuation"],"prefix":"10.1177","volume":"9","author":[{"given":"V\u00edtor","family":"Santos","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, University of Aveiro, Aveiro, Portugal"}]},{"given":"Rui","family":"Moreira","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Aveiro, Aveiro, Portugal"}]},{"given":"Filipe","family":"Silva","sequence":"additional","affiliation":[{"name":"Department of Electronics, Telecommunications and Informatics, Institute of Electronics and Telematics Engineering of Aveiro, University of Aveiro, Aveiro, Portugal"}]}],"member":"179","published-online":{"date-parts":[[2017,5,15]]},"reference":[{"key":"bibr1-51535","doi-asserted-by":"crossref","unstructured":"Kaneko K, Kanehiro F, Kajita S, Hirukawa H, Kawasaki T, Hirata M, Akachi K, Isozumi T (2004) Humanoid Robot HRP-2. 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