---
publication_id: "OT-2026-000000539"
title: "Dynamic task assignment amongst communicating humanoid robots"
published_at: "2026-09-15T19:03:03.133166Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000000539"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/163"
  - "b25j9/1661"
---

# Dynamic task assignment amongst communicating humanoid robots

## Abstract

The present disclosure provides a method for coordinating task execution among multiple humanoid robots, comprising receiving a high-level task command, decomposing it into sub-tasks, determining a cost-optimized assignment using a cost-optimized bipedal action model (CoBAM) based on energy consumption, time to completion, and robot capabilities, and transmitting the assignment to assigned robots. The CoBAM comprises a hierarchical architecture including an L2 beta model operating at 1-20 Hz for high-level planning and an L1 alpha model operating at 100-10,000 Hz for continuous control commands. The cost function considers battery levels, physical distances between robot and sub-task locations, and mechanical wear factors associated with specific joint movements.