<P>PROBLEM TO BE SOLVED: To provide a method effective for diagnosis, prognosis, and health management for a humanoid robot having super multidegree of freedom. <P>SOLUTION: A distributed controller controls the joints and other integrated system components over multiple high-speed communication networks. Diagnostic, prognostic, and health management (DPHM) modules are embedded within the robot at the various control levels. Each DPHM module measures, controls, and records DPHM data for the respective control level/connected device in an accessible location over the networks or via an external device. A method of controlling the robot includes embedding a plurality of the DPHM modules within multiple control levels of the distributed controller, using the DPHM modules to measure DPHM data within each of the control levels, and recording the DPHM data in the accessible location over at least one of the high-speed communication networks. <P>COPYRIGHT: (C)2011,JPO&INPIT 
DIAGNOSTIC, PROGNOSTIC, HEALTH MANAGEMENT SYSTEM AND METHOD FOR HUMANOID ROBOT