A robot system comprising: a body comprising: an upper body section comprising a movable end-effector; a lower body section comprising a leg configured to contact a surface; and an intermediate body section coupling the upper body section and the lower body section; and a control system implemented with a processor, the control system comprising: an upper body control system configured to operate the movable end-effector, the movable end-effector experiencing an end-effector force based on the operation by the upper body control system, and the intermediate body section experiencing at least one of a first intermediate body linear force or a first intermediate body moment based on the end-effector force; and a lower body control system configured to: receive, from the upper body control system, information relating to the first intermediate body linear force and the first intermediate body moment; and operate the leg in response to the operation of the movable end-effector, the leg experiencing a respective reaction force from the surface based on the operation by the lower body control system, and the intermediate body section experiencing at least one of a second intermediate body linear force or a second intermediate body moment based on the respective reaction force, wherein the lower body control system is configured to operate the leg using the information relating to the first intermediate body linear force and the first intermediate body moment, the operation of the leg balancing the second intermediate body linear force and the first intermediate body linear force and balancing the second intermediate body moment and the first intermediate body moment. a body comprising: an upper body section comprising a movable end-effector; a lower body section comprising a leg configured to contact a surface; and an intermediate body section coupling the upper body section and the lower body section; and an upper body section comprising a movable end-effector; a lower body section comprising a leg configured to contact a surface; and an intermediate body section coupling the upper body section and the lower body section; and a control system implemented with a processor, the control system comprising: an upper body control system configured to operate the movable end-effector, the movable end-effector experiencing an end-effector force based on the operation by the upper body control system, and the intermediate body section experiencing at least one of a first intermediate body linear force or a first intermediate body moment based on the end-effector force; and a lower body control system configured to: receive, from the upper body control system, information relating to the first intermediate body linear force and the first intermediate body moment; and operate the leg in response to the operation of the movable end-effector, the leg experiencing a respective reaction force from the surface based on the operation by the lower body control system, and the intermediate body section experiencing at least one of a second intermediate body linear force or a second intermediate body moment based on the respective reaction force, an upper body control system configured to operate the movable end-effector, the movable end-effector experiencing an end-effector force based on the operation by the upper body control system, and the intermediate body section experiencing at least one of a first intermediate body linear force or a first intermediate body moment based on the end-effector force; and a lower body control system configured to: receive, from the upper body control system, information relating to the first intermediate body linear force and the first intermediate body moment; and operate the leg in response to the operation of the movable end-effector, the leg experiencing a respective reaction force from the surface based on the operation by the lower body control system, and the intermediate body section experiencing at least one of a second intermediate body linear force or a second intermediate body moment based on the respective reaction force, receive, from the upper body control system, information relating to the first intermediate body linear force and the first intermediate body moment; and operate the leg in response to the operation of the movable end-effector, the leg experiencing a respective reaction force from the surface based on the operation by the lower body control system, and the intermediate body section experiencing at least one of a second intermediate body linear force or a second intermediate body moment based on the respective reaction force, wherein the lower body control system is configured to operate the leg using the information relating to the first intermediate body linear force and the first intermediate body moment, the operation of the leg balancing the second intermediate body linear force and the first intermediate body linear force and balancing the second intermediate body moment and the first intermediate body moment.