This paper describes a network framework that support network based humanoid. The framework utilizes middleware such as CORBA (ACE/TAO) that provides PnP capability for network based humanoid. The network framework transfers data gathered from a network based humanoid to a processing group that is distributed on a network. The data types are video stream, audio stream and control data. Also, the network framework transfers service data produced by the processing group to the network based humanoid. By using this network framework, the network based humanoid can provide high quality of intelligent services to user.

In this paper, control software architecture is designed to enable a heterogeneous multiple humanoid robot demonstration executing tasks cooperating with each other. In the heterogeneous humanoid robot team, one large humanoid robot and two small humanoid robots are included. For the efficient and reliable information sharing between many software components for humanoid control, sensing and planning, CORBA based software framework is applied. The humanoid tasks are given in terms of finite state diagram based human-robot interface, which is interpreted into the XML based languages defining the details of the humanoid mission. A state transition is triggered based on the event which is described in terms of conditions on the sensor measurements such as robot locations and the external vision system. In the demonstration of the heterogeneous humanoid team, the task of multiple humanoid cleaning the table is given to the humanoid robots and successfully executed based on the given state diagram.