Patent ID: 8297672

Claim:
A humanoid robot comprising: a wrist joint connecting a robot arm to a hand body; a first actuator and a first power transmission device that drive the wrist joint to rotate the hand body relative to the robot arm; finger members comprising finger joints and knuckles, wherein the finger members are connected to the hand body; and a second actuator and a second power transmission device that drive the finger joints to rotate the finger members relative to the hand body, wherein the second power transmission device includes a connection member connecting the finger joints to the second actuator, and a guide member for guiding the connection member, wherein the guide member includes a first guide member coupled with the robot arm and a second guide member coupled with the hand body, wherein the connection member is alternately wound around the first and second guide members, wherein the robot arm comprises a first contact section making contact with the hand body, the hand body comprises a second contact section making contact with the first contact section, wherein the second contact section is configured to roll on the first contact section, and wherein the first contact section has a planar shape, and the second contact section has a circular shape having a radius about a rotating section.