Something core to humanoid platforms today are also the strategic departures from the human form factor.
For example, we’ve moved entirely to rotary actuators, leaving behind linear actuators that more closely mimic the form factor of our musculo-skeletal system, because rotary actuators are more efficient and have a smaller sim2real gap. This has negative implications, for example for distal mass at the ankles and wrists, but the benefits from focusing on designing just two highly efficient actuator types have brought important gains.
The actuator efficiency allows us to rely on implicit proprioception to adapt to unexpected loads, without any force/torque sensors. And the increased reliability and smaller sim2real gap has increased our development speed.
(you'll see at the end of the video an unexpected load doubling the weight of the fridge)