OPENTECHNICAL PUBLICATION
OT-2026-000000539

Dynamic task assignment amongst communicating humanoid robots

Published: 2026-09-15T19:03:03.133166Z
Permanent URL: https://opentechnical.org/p/OT-2026-000000539
Categories: Robotics & Automation > Robot Architectures

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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.

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OpenTechnical publication OT-2026-000000539
Published 2026-09-15T19:03:03.133166Z
https://opentechnical.org/p/OT-2026-000000539