Control synchronization for high-latency teleoperation

A robot, comprising:

• a processing device;
• a plurality of actuators responsive to said processing device for causing motion of said robot;
• wherein said processing device is configured to
• respond to a user robot command initiated by a control operator input at a remote control console, said user robot command specifying a first action involving a change of position for at least one portion of the robot,
• compare a current pose of the robot to an earlier pose of the robot, where the earlier pose comprises a pose of the robot at a time when the control operator input was received by the remote control console;
• and
• responsive to determining a difference between the current pose and the earlier pose, selectively transform the user robot command to a latency-corrected robot command that will cause at least one portion of the robot to transition from a current position to a desired position indicated by the user robot command;
• wherein the transform comprises determining a trajectory of motion that would have resulted from the robot's performance of the first action specified by the user robot command if the robot had remained in the earlier pose, determining an intersect movement that will cause the at least one portion of the robot to transition from the current position displaced from the trajectory of motion to an intermediate position which is disposed along the trajectory of motion, and determining an alignment movement that will cause the robot to transition from said intermediate position to the desired position along the trajectory of motion.