What makes humanoid control difficult?
Humanoids must coordinate many joints while maintaining balance and interacting with the environment. Control decisions can affect locomotion, manipulation and stability at the same time.
Whole-body control
Whole-body control treats the robot as a coupled system rather than isolated limbs. It can coordinate posture, foot placement, arm motion and contact constraints.
Learning and control
Learned policies can operate above or alongside classical controllers. A common architecture separates high-level behavior from lower-level control that enforces physical constraints.
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