Some interesting lectures on whole-body control are available on Youtube:
- Lecture on Whole Body Control by Luis Sentis with lecture notes
- ICRA 2020 Keynote on Compliant Whole-body Control for Real-World Interactions by Jaeheung Park
- ICRA 2021 Presentation: Towards Compliant and Precise Control of (Tow) Legged Robots for Walking by Jaeheung Park
- Whole Body Control Kinematics by Enrico Mingo Hoffman
- Optimization-based Robot Control by Andrea Del Prete with lecture notes