Adaptive robot controller for low-energy behavior that maintains thermal constraints

A robotic system comprising:

• a plurality of mechanical joints configured between components of the robotic system such that the components are movably connected;
• a plurality of actuators configured to control positions of the plurality of mechanical joints;
• a plurality of sensors configured to detect operating conditions of respective actuators of the plurality of actuators;
• a processor configured to control power to the plurality of actuators and to process signals received from the plurality of sensors;
• and
• a non-transitory computer-readable storage medium storing processor executable instructions that when executed by the at least one computer hardware processor enforce safe operating limits of the robotic system, wherein the processor executable instructions cause the processor to:
• receive sensor data from the plurality of sensors;
• generate control signals for controlling the plurality of actuators;
• determine whether the control signals exceed safe operating limits;
• and
• upon determining the control signals exceed the safe operating limits, generate an intervention signal.