  Purpose of Review: As new technological advancements are made, humanoid
robots that utilise them are being designed and manufactured. For optimal
design choices, a broad overview with insight on the advantages and
disadvantages of available technologies is necessary. This article intends to
provide an analysis on the established approaches and contrast them with
emerging ones.
  Recent Findings: A clear shift in the recent design features of humanoid
robots is developing, which is supported by literature. As humanoid robots are
meant to leave laboratories and traverse the world, compliance and more
efficient locomotion is necessary. The limitations of highly rigid actuation
are being tackled by different research groups in unique ways. Some focus on
modifying the kinematic structure, while others change the actuation scheme.
With new manufacturing capabilities, previously impossible designs are becoming
feasible.
  Summary: A comprehensive review on the technologies crucial for bipedal
humanoid robots was performed. Different mechanical concepts have been
discussed, along with the advancements in actuation, sensing and manufacturing.
The paper is supplemented with a list of the recently developed platforms along
with a selection of their specifications.
