1. A method for allocating forces among the corners of a vehicle having a redundant actuator suite, the method comprising: determining a set of desired forces at the center of gravity of the vehicle, including monitoring, via a controller, a set of manual driving inputs and a set of sensor-guided autonomous driving inputs; allocating the set of desired forces among the corners of the vehicle as virtual control commands using the controller; mapping the virtual control commands at the corners to actual or true control commands at the corners; and controlling a plurality of actuators at the corners using the actual or true control commands.