Humanoid robot

A robot, comprising:

• a body assembly that comprises a frame formed of at least one body joint assembly;
• at least one pair of joint linear actuators that form the at least one body joint, the at least one pair of joint linear actuators configured to operate in combination to adjust the at least one body joint assembly in two degrees of freedom through differential linear actuation,
• wherein the body assembly comprises:
• a torso assembly, the torso assembly comprising:
• at least a portion of the frame;
• at least one upper body joint assembly of the at least one body joint assembly;
• and
• at least one pair of upper body linear actuators of the at least one pair of joint linear actuators, the at least one pair of upper body linear actuators configured to operate in combination to adjust the upper body joint assembly in two degrees of freedom through differential linear actuation;
• a base assembly, the base assembly comprising:
• at least another portion of the frame;
• at least one lower body joint assembly of the at least one body joint assembly;
• and
• at least one pair of lower body linear actuators of the at least one pair of joint linear actuators, the pair of lower body linear actuators configured to operate in combination to adjust the lower body joint assembly in two degrees of freedom through differential linear actuation;
• and
• a first motor controller communicably coupled to each upper body linear actuator of the at least one pair of upper body linear actuators;
• and
• a second motor controller communicably coupled to each lower body linear actuator of the at least one pair of lower body linear actuators.