Definition
Whole-body control (WBC) formulates the control of all robot joints as a single optimization problem, typically using quadratic programming (QP). For humanoids and mobile manipulators, WBC simultaneously tracks end-effector tasks (e.g., reaching), maintains balance (center of mass within support polygon), avoids joint limits, and manages contact forces. Hierarchical WBC assigns strict priorities — balance constraints are never violated even if tracking accuracy decreases. WBC is essential for legged robots performing manipulation and is increasingly used in learning-based locomotion pipelines as a lower-level controller.
Why It Matters for Robot Teams
Understanding whole-body control is essential for teams building real-world robot systems. Whether you are collecting demonstration data, training policies in simulation, or deploying in production, this concept directly affects your workflow and system design.