---
publication_id: "OT-2026-000001989"
title: "System and method for efficient control of a humanoid robot"
published_at: "2026-09-15T19:10:00.343686Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001989"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1605"
  - "b25j9/1605"
  - "g06n3/008"
  - "b25j13/00"
  - "b25j13/003"
  - "b25j13/003"
---

# System and method for efficient control of a humanoid robot

## 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.