OPENTECHNICAL PUBLICATION
OT-2026-000002200

Management of multiple modes for humanoid robot

Published: 2026-09-15T19:11:25.650118Z
Permanent URL: https://opentechnical.org/p/OT-2026-000002200
Categories: Robotics & Automation > Robot Architectures

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ABSTRACT

The present disclosure provides a system for managing operational modes of a
humanoid robot. The system comprises stateless controllers, each associated
with a predefined operational domain defining a subset of robot state-space
where the controller is valid. The system comprises composable modes with
composable structures of stateless controllers arranged from highest to lowest
priority. The system comprises a mode manager communicatively coupled to the
stateless controllers and configured to, for each control cycle: iterate
through the composable structure of an active composable mode from the
highest-priority controller; select the first controller whose predefined
operational domain includes the current robot state; and execute only the
selected controller to control the humanoid robot for the control cycle
duration.

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OpenTechnical publication OT-2026-000002200
Published 2026-09-15T19:11:25.650118Z
https://opentechnical.org/p/OT-2026-000002200