OPENTECHNICAL PUBLICATION
OT-2026-000001989

System and method for efficient control of a humanoid robot

Published: 2026-09-15T19:10:00.343686Z
Permanent URL: https://opentechnical.org/p/OT-2026-000001989
Categories: Robotics & Automation > Robot Architectures

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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.

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OpenTechnical publication OT-2026-000001989
Published 2026-09-15T19:10:00.343686Z
https://opentechnical.org/p/OT-2026-000001989