Degrees of freedom

Degrees of freedom (DOF) is the count of independent axes a robot can articulate. Reported as a single integer for the whole platform, but the more informative breakdown is per-subsystem: legs, arms, hands, neck, torso. A 28-DOF humanoid with 8 DOF per arm and 4 per hand is structurally different from a 28-DOF humanoid with 6 per arm and 6 per hand — the dexterous-manipulation envelope depends on where the DOF sits.

Per-platform examples in current published specs: Boston Dynamics Atlas reportedly ~28, Tesla Optimus ~28, Figure 03 ~40+ with high finger count, Agility Digit ~16, 1X NEO low-30s. The tradeoff is direct: more DOF unlocks dexterous manipulation and natural-looking motion but multiplies the control problem, the actuator cost, and the maintenance surface. Most cost-down efforts in the 2026-vintage programs are about reducing DOF where it doesn't earn its keep.