Control
Velocity Control
Velocity control is a control mode in which the commanded quantity is joint or end-effector velocity rather than position or torque, executed by an inner servo loop that tracks the velocity setpoint. It is the native interface for wheeled mobile bases and is central to resolved-rate motion control, where a desired Cartesian twist is mapped to joint velocities through the Jacobian pseudoinverse.
Why it matters for physical AI
Streaming velocity commands is the standard interface for teleoperation and visual servoing, and many learned policies output velocity actions because they are smooth, bounded, and safer to execute than raw torques.
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