Safety documentation for humanoids is still thin, and most of what exists is written by people selling something. Here is the checklist we run on every deployment, in the order we run it.
1. Physical e-stop within reach of anyone
Not one e-stop by the charging dock. One on the robot, and one at every station it visits. A person who has to walk toward a misbehaving machine to stop it has already lost.
2. Keep-out zones that match the actual floor
Draw them on a plan, then walk the route with the robot at 30 % speed and redraw them. The plan is always wrong the first time.
3. Pinch points surveyed by a human hand
Run a gloved hand along every joint range of motion while the robot is powered down. If a finger can be trapped, someone will eventually trap one.
4. A handover protocol nobody has to think about
Where the human stands, where the robot releases, who moves first. Print it. Tape it to the station. If the protocol only exists in a training session, it does not exist.
5. Speed limits set by the room, not the spec sheet
A 1.4 m/s humanoid is fine in an empty aisle and unacceptable next to a packing line. Set the limit from the worst case, then raise it only after two weeks of clean operation.
6. Signage and a named supervisor
Floor markings, a visible "robot operating" indicator, and one person per shift whose job it is to stop the line if something looks wrong. Anonymous responsibility is no responsibility.
Every incident report we have read had a checklist item that existed on paper and was skipped in practice.
We walk this list with every customer before the first shift, and we will walk it again after any layout change. It takes about two hours.