{
  "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.",
  "assignees": [
    "FIGURE AI INC"
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  "authors": [
    "REHER JENNA"
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  "title": "System and method for efficient control of a humanoid robot",
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