Humanoid robot comprising two elements (2, 3) and an articulation (11) of at least one degree of freedom that joins the two elements, the two elements each comprising a skin (22, 23) that delimits its external surface , the articulation (11) allowing a reduction in a given interval, one of the two elements (2, 3) being destined to be substantially in contact with an area (26) of the skin (22, 23) of a second of the two elements at one end of the interval, the zone (26) being flexible such that it allows deformation at a given distance with a force less than a given force, characterized in that the first element (3) is coupled to the second element (2) crossing the flexible zone (26).
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