The remainder of this paper is organized as follows. Section 2 introduces a cooperative framework for the humanoid robot. Section 3 introduces a real-time distributed humanoid robot control system based on IEEE-1394. Section 4.1 describes movement and path planning. Section 4.2 describes perception in operation, such as object pose estimation and face tracking for service providing. Section 5 explains error handling and safety, and Section 6 presents the experiment for coordinated task execution.