Controllers

Controllers are the software layer that translates decisions into motion. They take high-level commands and compute the precise torques, forces, or trajectories needed for actuators to execute safely and accurately.

In humanoid robotics, this means tuning control for rotary actuators with strain-wave or planetary gearboxes, managing backlash, compliance, and torque ripple while coordinating dozens of joints at the same time. Traditional PID loops (Proportional-Integral-Derivative) are still used for low-level control, but modern systems often rely on model-predictive control (MPC), whole-body controllers, or hybrid architectures that combine physics models with learned behaviors.