Abstract
The present disclosure provides a system for managing operational modes of a humanoid robot. The system comprises stateless controllers, each associated with a predefined operational domain defining a subset of robot state-space where the controller is valid. The system comprises composable modes with composable structures of stateless controllers arranged from highest to lowest priority. The system comprises a mode manager communicatively coupled to the stateless controllers and configured to, for each control cycle: iterate through the composable structure of an active composable mode from the highest-priority controller; select the first controller whose predefined operational domain includes the current robot state; and execute only the selected controller to control the humanoid robot for the control cycle duration.