01 · Operator
Operator
“Lift that box.”
The task request is valid.
Robotics Judgment
Bring valid controllers toward convergence.
A control layer for repeated interaction among locally valid control elements when the whole robot no longer settles on a usable next state.
PlannerSafetyGripRecoveryConflict SequenceHost Control
The problem
A robot can fail to converge even when no individual controller is wrong.
Planner, safety, grip, recovery, reflex, and human control can each behave correctly within their own scope while the interaction repeatedly returns to the same conflict.
The failure is not necessarily inside one controller. It can exist in the sequence between controllers.
Concrete example
Correct local responses can still create a repeating system loop.
TASK
02 · Motion
Robot
The planner begins a valid lift trajectory.
No controller is necessarily wrong.
03 · Change
Grip / sensing
Slip is detected during the lift.
A legitimate local intervention is required.
04 · Local responses
Controllers
Grip tightens. Safety slows. Planner continues. Recovery prepares to reset.
Each response can be locally reasonable.
05 · Sequence
System state
Lift → slip → slow → recover → retry → slip again.
The failure exists in the repeated sequence across controllers.
06 · LimFlex
Judgment
“Do not repeat the same lift sequence. Hold lift, set down, re-grasp, then re-plan.”
The current conflict sequence is judged as a whole.
07 · Result
Robot host
Set down → re-grasp → re-plan → resume when the release condition is met.
Existing safety functions remain authoritative.
Customer value
Reduce repeated intervention without removing legitimate safety action.
LOOPSFewer repeated intervention loops.Recognize recurrence across controllers instead of treating every rejection as a fresh event.
RETRYFewer unnecessary retries.Change the recovery route when the same downstream condition keeps invalidating the attempt.
RECOVERYFaster path toward a usable next state.Move from repeated local correction toward a bounded system-level route.
RESPONSIBILITYRetain controller-specific responsibility.Existing safety and controller authority remain explicit rather than being silently bypassed.
Critical boundary
LimFlex does not bypass certified safety functions.
It helps manage what happens around and after legitimate interventions.
Start with one repeated control sequence.
A log, simulation, or reproducible controller interaction is enough to frame a bounded convergence POC.