Biomimetic robotics is a cross-disciplinary area combining human biomechanics, robotics, artificial intelligence, and materials science in the development of robotic systems that can mimic human movements and functionality. The current review explores the connection between human musculoskeletal kinematics and advanced high-torque robotic actuation systems through the discussion of biomechanical theory, robotic actuator technologies, biomimetic mapping techniques, and innovative developments in the field of robotic engineering. Modern approaches such as motion capture, electromyography (EMG), inverse dynamics, biomechanical modeling, and artificial intelligence-controlled systems enable enhanced accuracy of movements, sensor fusion, and human-robot interaction in the robotic systems. Research shows that biomimetic robotics enables enhanced adaptability, efficiency, and safety during interactions with humans; nevertheless, it is still difficult to mimic the complex functionality and energy efficiency of the human musculoskeletal system. In addition, this study focuses on the innovative advancements in the field such as brain-computer interfacing and AI-enabled adaptive robotic systems.