Robot movement and online trajectory optimization

A computing system of a robot 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 information including a navigation target for the robot and a kinematic state of the robot;
• determining, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot, wherein the trajectory target is based on a linear motion of the robot and an angular motion of the robot, and wherein the retargeted trajectory is based on an adjusted linear motion of the robot and an adjusted angular motion of the robot,
• determining, based on the retargeted trajectory, a centroidal trajectory for the robot and a whole-body kinematic trajectory for the robot consistent with the centroidal trajectory;
• determining, based on the centroidal trajectory and the whole-body kinematic trajectory, a set of vectors having a vector for each of one or more joints or links of the robot;
• and
• controlling movement of the robot based on one or more vectors in the set of vectors.