OpenTechnical
This is a record of a document published elsewhere, first published by the United States Patent and Trademark Office, as US-2026070212-A1, on 12 March 2026. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000001989

System and method for efficient control of a humanoid robot

Published
Permanent URL
Classification
Robotics & Automation › Robot Architectures
Inventors
REHER JENNA
Assignee
FIGURE AI INC
Original source
US-2026070212-A1, the United States Patent and Trademark Office, 12 March 2026
Document SHA-256
b8099346a9c1ce26eb25e3bc400271a792d5b00f460c50e0d23621927b339cd3

Abstract

The present disclosure provides a method for controlling a humanoid robot. The method comprises identifying a task for the humanoid robot to perform and establishing a safety-related limit. The method includes constructing a phantom inverse kinematics task mathematically derived from the identified task to regularize the robot's pose. The method formulates a combined inverse kinematics problem incorporating the task, phantom inverse kinematics task, and safety-related limit. The method solves the inverse kinematics problem to generate target joint parameters that satisfy the task while remaining within the safety-related limit. The method provides the target joint parameters to actuators to effect physical movement of the humanoid robot.

Publication information

Plain textMarkdownManifestIntegrity record

Citation

OpenTechnical Publication OT-2026-000001989, “System and method for efficient control of a humanoid robot,” published September 15, 2026 at 19:10:00 UTC, https://opentechnical.org/p/OT-2026-000001989.

To cite specific content, add the paragraph or figure numbers.

Terms

This record reproduces a document published elsewhere and is provided for reference and study. Rights in the original remain with its owner. See the publication policy.