分类： 关节与运动系统

人形机器人通常具备多个自由度（DOF）的关节，以实现灵活的运动。关节一般由伺服电机、减速器和传感器等部件组成，通过精确的控制算法实现各种动作。Humanoid robots usually have joints with multiple degrees of freedom (DOF) to achieve flexible movements. The joints are generally composed of servo motors, reducers, sensors and other components, and various movements are achieved through precise control algorithms.