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 WBC - Whole-Body Control</h1>
 <p><a href="https://arc-opt.github.io/wbc/index.html">Code API</a> | <a href="https://arc-opt.github.io/Documentation/">Full Documentation</a></p>
 <p><img src="doc/images/wbc_principle.svg" alt="drawing" style="pointer-events: none;" width="600" class="inline"/></p>
-<p>WBC is C++ library for optimization-based control of redundant robots. It allows intuitive specification and execution of reactive robot control problems that involve multiple simultaneously running tasks. The idea of WBC is to describe a control problem as costs and constraints of an optimization problem (typically a quadratic program or QP) and design a set of feedback controllers around it. The QP minimizes the control errors, trading off the different objectives and produces a joint space command on velocity, acceleration or torque level, which is applied to the robot actuators. WBC is meant for</p><ul>
+<p>WBC is C++ library for optimization-based control of redundant robots. The idea of WBC is to describe a control problem as costs and constraints of an optimization problem (typically a quadratic program or QP) and design a set of feedback controllers around it. The QP minimizes the control errors, trading off the different objectives and produces a joint space command on velocity, acceleration or torque level, which is applied to the robot actuators. WBC is meant for</p><ul>
 <li>Controlling redundant robots, particularly floating base systems like humanoids or quadrupeds</li>
 <li>Controlling multiple tasks simultaneously</li>
 <li>reactive robot control, i.e. it does not plan ahead the next robot control actions</li>