Robot Inspiration

I spent many hours searching internet based videos to see what types of designs existed for small Humanoids. Granted I know the design of Hubo inside and out but yet this robot could not be as complex. So I needed to "switch gears" to start thinking in the perspective of small robots. I found two robots that I liked that were featured in the ROBO- ONE, a Japanese competition. The first robot that gained my interest was the Kondo KHR-2HV.
I liked the legs where the knee joint is set on an angle to the perpendicular part of lower leg and foot. This allowed the robot to have a very fluid motion during walking. I also felt it did not have to Throw its leading and trailing leg as far to achieve locomotion.

The second design that also took my interest was a small robot also from ROBO - ONE. This robot is called OmniZero.
The video shows the unique construction of the robot, notice that this robot has two motors at the knee joint. The double knee is much different than most Humanoid robots competing. Most robot have a single motor actuating at the knee, but in using two motors in the knee allows each motor to rotate half the distance. This allows of for faster actuation at the knee and I believe that this is a potential design for a more capable running robot.