A survey on the structures of current mobile humanoid robots

Many types of mobile humanoid robots combining both the characteristics of mobile robot and humanoid robot have been developed in the literatures in the past two decades. This paper is aimed at presenting a survey of robotic structures for the mobile humanoid robots. The most used ones are wheeled mobile humanoid robots with their salient features of the human-like upper body normally containing two arms, the waist, neck and head mounted on a wheeled mobile platform. The whole-body structure and different parts are all analyzed in detail by comparing among similar mobile humanoid robots. This work will be meaningful for the design of future promising mobile humanoid robots.