"It's those little tweaks that bridge the gap between a jerky robotic ride and an amazingly smooth one." Properly taught robots know about jerk, snap, crackle

"It's those little tweaks that bridge the gap between a jerky robotic ride and an amazingly smooth one." Properly taught robots know about jerk, snap, crackle and pop (the third, fourth, fifth and sixth derivatives of the position vector with respect to time, https://en.wikipedia.org/wiki/Jounce https://en.wikipedia.org/wiki/Jounce ). "Amazingly smooth" is probably the minimum jerk trajectory.