Braking and regeneration control in a legged robot

A method comprising:

• providing, by a controller of a robot, a first signal to a hydraulic actuator cylinder that controls a leg of the robot, the first signal controlling a piston of the hydraulic actuator cylinder to move in a forward direction along a first trajectory between a first position and a second position;
• generating, by the controller of the robot, a second signal based on sensor data indicating a pressure level of the hydraulic actuator cylinder and a motion characteristic of the piston;
• providing, by the controller of the robot, the second signal to the hydraulic actuator cylinder, the second signal controlling the piston to override the first trajectory and stop at a third position between the first position and the second position;
• and
• providing, by the controller of the robot, a third signal to the hydraulic actuator cylinder, the third signal controlling the piston to move in a reverse direction along the first trajectory.