<P>PROBLEM TO BE SOLVED: To provide a flexible and expandable integrated control architecture for a humanoid robot having multiple degrees of freedom. <P>SOLUTION: A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes a command-level controller, embedded joint-level controllers each controlling each joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of respective linked events, and thereby allows command data to be modified in real time. <P>COPYRIGHT: (C)2011,JPO&INPIT 
INTERACTIVE ROBOT CONTROL SYSTEM AND METHOD OF USE