The physical design of a humanoid robot? No; Asimov's designs would constitute prior art (not to mention the existing real-world humanoid robots, or even humans

The physical design of a humanoid robot? No; Asimov's designs would constitute prior art (not to mention the existing real-world humanoid robots, or even humans themselves if you want to get existental). Any novel mechanical workings that make a humanoid robot possible would certainly be patentable, however.