Dynamic planning controller

A robot comprising:

• a body;
• two or more legs coupled to the body;
• and
• a control system in communication with the body and the two or more legs, the control system comprising data processing hardware and memory hardware in communication with the data processing hardware, the memory hardware storing instructions that when executed on the data processing hardware cause the data processing hardware to perform operations comprising:
• receiving a maneuver for the robot and a current state of the robot, the maneuver comprising one or more movement events for the robot to perform;
• transforming the maneuver and the current state of the robot into a nonlinear optimization problem, the nonlinear optimization problem configured to optimize an unknown force and an unknown position vector;
• at a first time instance:
• linearizing the nonlinear optimization problem into a first linear optimization problem;
• and
• determining a first solution to the first linear optimization problem using quadratic programming;
• at a second time instance subsequent to the first time instance:
• linearizing the nonlinear optimization problem into a second linear optimization problem based on the first solution at the first time instance;
• and
• determining a second solution to the second linear optimization problem based on the first solution using the quadratic programming;
• and
• generating a joint command to control motion of the robot during the maneuver based on the second solution.