Whole-body robot control plans and regulates the motion of a robot's torso, limbs and effectors at the same time. A reach or manipulation can shift balance and change contact forces, so isolated joint commands may not produce a stable physical action.
The controller must satisfy goals while respecting joint limits, collisions, balance, grip and environmental constraints. It is especially important for humanoids that must combine walking, posture and precise hand actions.
ELI5
Whole-body robot control coordinates many parts of a robot at once. Moving an arm can affect balance, posture, grip, and contact with the ground, so the controller plans them as one connected action.
For example, a humanoid reaching for a heavy box may bend its knees, shift its torso, place its feet securely, and move both arms together. Controlling only the hands could make the robot miss the box or fall over.
Why is whole-body control important for humanoid robots?
Humanoids must maintain balance while moving several limbs, so manipulation and locomotion cannot always be planned as independent actions.
How is whole-body control different from arm control?
Arm control focuses on an individual manipulator, while whole-body control coordinates the arm with the torso, legs, balance and other contacts.
