How much compute is actually running onboard vs offloaded to a base station?

[ivan22]

@scott.andersson5 One nitpick - Whole-body control (WBC) formulates locomotion and manipulation as a single optimization problem across all joints simultaneously, respecting contact constraints and task priorities - it's more general than ZMP-only approaches but is computationally heavier and harder to tune.

[karen.chen3]

Speaking from personal experience here, Zero Moment Point (ZMP) control keeps the robot's center of pressure within its support polygon and has been the classical backbone of bipedal walking for two decades - it's robust and well-understood, but tends to produce a somewhat conservative, flat-footed gait compared to more dynamic approaches. Anyway, good thread - following for more.