Unverified50% confidenceFactExact time
The whole-body controller is responsible for converting high-level body point targets into joint torques or position commands and maintaining balance and gait stability.
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50%
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Long-term
Relevance
11/1/2026
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Related Claims
Unverified该研究的方法属于层级式全身控制（Hierarchical Whole-Body Control）的一个实例，高层以任务空间（手臂轨迹、球拍姿态）建模，低层以关节空间与质心动力学建模，中间通过参考轨迹和速度指令衔接。74% similarUnverifiedForward kinematics refers to computing the position and orientation in space of the end effector or body parts from given joint angles and link geometry parameters.72% similarUnverifiedTo allow the arms to move freely while walking, the control system must incorporate upper-limb movement into whole-body control (WBC) considerations.71% similar
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