1. A robot, comprising: a dynamical system including: a plurality of rigid links; joints pivotally connecting pairs of the rigid links, wherein the robot has a number of degrees of freedom (DOFs); and an actuator associated with each of the joints, whereby the robot is fully actuated; a constraint limiting motion of the dynamical system; and an operational space controller comprising a constrained task space dynamics module and a constrained null space dynamics module providing control signals to selectively drive the actuators to operate the robot to perform a task.