Humanoid robots are complex machines that require special efforts for the design process. Usually they are complex systems whose design and construction is a challenge for researchers in several fields of science and engineering. The mechanical functionality of main components has to be clearly understood in order to design the required mechanical features. Therefore, taking advantage of the mechanism and machine theories, a functional machine can be conceived reducing the system complexity. The aim of this work has been to design a humanoid robot by resolving most of the common problems...