System and method for controlling a multi-legged robot

A control system for controlling a robot to perform a task, wherein the robot is a legged robot comprising a trunk and a plurality of legs for supporting the trunk above a ground, wherein the control system comprises a processor;

• and a memory having instructions stored thereon that, when executed by the processor, causes the control system to:
• collect a reference trajectory defining a sequence of states of the robot in a time and a space to perform the task;
• execute a stance controller configured to compute and apply reaction forces of the plurality of legs of the robot in a contact with the ground to push the trunk of the robot based on the reference trajectory;
• and
• execute a swing controller of a plurality of swing controllers to swing a leg of the plurality of legs in response to detecting a relative position between the trunk and a foot of the leg of the robot indicative of an imbalance of a support of the trunk of the robot above the ground, wherein the processor is configured to detect the imbalance based on a foot position of the leg that is outside of a shape centered on a projection of a hip position to the ground, wherein one or more dimensions of the shape are a function of a speed defined by the reference trajectory, and wherein measurements of mutual positions of joints of the leg of the plurality of legs correspond to the speed defined by the reference trajectory.