Dynamic system controller with online machine learning

A dynamic system controller comprising:

• a first error detection point configured to determine and output a first error between a joint state and a joint state target, wherein the joint state describes an actual state of a set of joints in a dynamic body, the set of joints having one or more degrees of freedom that are controlled by a set of actuators;
• an impedance controller having an impedance controller input and an impedance controller output, wherein the impedance controller input is coupled to the first error detection point to receive the first error, wherein the impedance controller is configured to generate and output an impedance torque or force based on the first error;
• a summing point having a first summing input coupled to the impedance controller output to receive the impedance torque or force, wherein the summing point generates and outputs a reference force based at least in part on the impedance torque or force;
• a second error detection point configured to determine and output a second error between the reference force and an actual actuation force applied to the set of joints by the set of actuators at the joint state;
• and
• a force controller communicatively coupled to an actuator control that translates actuator commands to controls for the set of actuators, the force controller having a force controller input coupled to the second error detection point to receive the second error, wherein the force controller is configured to generate a set of actuation commands based on the second error and output the set of actuator commands to the actuator control.