Whole-body control

When a humanoid reaches for a box on a low shelf, its legs, torso and arms must work together to keep the balance. Controlling each limb separately does not work for this, because moving the arm shifts the center of mass and the legs must respond.

Whole-body control is what makes a humanoid able to carry things, push a cart or open a heavy door while staying upright. In reviews, look for demos where the robot does a task with arms and legs together, not just walking and waving separately.