Humanoid robot comprising articulated legs with wheels or tracks

A humanoid robot, comprising:

• a main body,
• two mechanically actuated legs attached to the main body at a lower part of the main body and configured to provide locomotion of the robot over ground, wherein each of the legs:
• is attached to the main body by a hip joint providing movement of an upper part of the leg relative to the main body,
• comprises a knee joint providing movement of a lower part of the leg relative to the upper part of the leg, and
• comprises a wheel at a distal end away from the knee joint for contacting the ground in order to provide the locomotion,
• two mechanically actuated arms attached to the main body at an upper part of the main body and configured to move relative to the main body, and
• a mechanically actuated, head attached to the main body at the top of the main body,
• wherein the robot is configured to provide the locomotion in a walking mode by stepped motion of the legs and in a driving mode by rolling on the wheels,
• wherein
• one of the two legs comprises a battery compartment arranged between the knee joint and the hip joint and configured to accommodate a swappable battery such that the battery—when accommodated in the battery compartment—provides electrical energy to be used for driving a motion of the robot, in particular a motion of one the two legs and/or one of the two arms, wherein the robot is configured to provide for a battery replacement for the battery compartment during continuous operation of the robot, particularly during motion by the two arms.