Whole-Body Control Framework

A hierarchical control architecture for robots with many DOF (humanoids, mobile manipulators) that formulates multiple tasks as a prioritized stack of quadratic programs. Higher-priority tasks (balance, collision avoidance) are strictly enforced; lower-priority tasks (end-effector tracking, posture) are achieved in the null space of higher ones. Solvers like HQP and OSC are common implementations.

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