Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling robotic movements. One of the methods includes receiving, for a robot, an initial plan specifying a path and a local trajectory; receiving an updated observation of an environment of the robot; generating an initial modified local trajectory for the robot based on the updated observation in the environment of the robot; repeatedly following the initial modified local trajectory for the robot while generating a modified global path for the robot, comprising: obtaining data representing a workspace footprint for the robot, the workspace footprint defining a volume for a workspace of the robot, and generating the modified global path to avoid causing the robot to cross a boundary of the volume defined by the workspace footprint; and causing the robot to follow the modified global path for the robot.

The invention includes systems and methods for determining movement of a robot. A computing system of the robot receives information comprising a reference behavior specification, a current state of the robot, and a characteristic of a massive body coupled to or expected to be coupled to the robot. The computing system determines, based on the information, a set of movement parameters for the robot, the set of movement parameters reflecting a goal trajectory for the robot. The computing system instructs the robot to move consistent with the set of movement parameters.

The invention includes systems and methods for determining movement of a robot. A computing system of the robot receives information comprising a reference behavior specification, a current state of the robot, and a characteristic of a massive body coupled to or expected to be coupled to the robot. The computing system determines, based on the information, a set of movement parameters for the robot, the set of movement parameters reflecting a goal trajectory for the robot. The computing system instructs the robot to move consistent with the set of movement parameters.

The invention includes systems and methods for determining movement of a robot. A computing system of the robot receives information comprising a reference behavior specification, a current state of the robot, and a characteristic of a massive body coupled to or expected to be coupled to the robot. The computing system determines, based on the information, a set of movement parameters for the robot, the set of movement parameters reflecting a goal trajectory for the robot. The computing system instructs the robot to move consistent with the set of movement parameters.