Systems and Methods for Adaptive Robotic Motion Control

A robotic system comprising:

• one or more robotic limbs;
• one or more non-transitory computer-readable storage media including instructions;
• and
• one or more processors coupled to the storage media, the one or more processors configured to execute the instructions to:
• access a trajectory plan to be executed by the robotic system, wherein the trajectory plan comprises one or more desired poses at one or more specified times, respectively, for each of one or more actuators of the robotic system;
• execute the trajectory plan for each of the one or more actuators of the robotic system;
• monitor, in real-time for each of the one or more actuators during execution of the trajectory plan, an actual pose of the respective actuator;
• determine, based on the monitoring of the one or more actuators, that one or more of the actuators is lagging, wherein the actual pose of each lagging actuator deviates from the desired pose by more than an error threshold;
• and
• adjust, in real-time responsive to determining that one or more of the actuators is lagging, one or more of the desired poses at one or more specified times, respectively, of the trajectory plan.

A computer-readable non-transitory storage media comprising instructions executable by one or more processors of a robotic system to:

• access a trajectory plan to be executed by the robotic system, wherein the trajectory plan comprises one or more desired poses at one or more specified times, respectively, for each of one or more actuators of the robotic system;
• execute the trajectory plan for each of the one or more actuators of the robotic system;
• monitor, in real-time for each of the one or more actuators during execution of the trajectory plan, an actual pose of the respective actuator;
• determine, based on the monitoring of the one or more actuators, that one or more of the actuators is lagging, wherein the actual pose of each lagging actuator deviates from the desired pose by more than an error threshold;
• and
• adjust, in real-time responsive to determining that one or more of the actuators is lagging, one or more of the desired poses at one or more specified times, respectively, of the trajectory plan.