1. A robotic system comprising: a dexterous robot having a plurality of robotic joints, actuators configured for moving the robotic joints, and sensors configured for measuring a characteristic of a corresponding one of the robotic joints, and for transmitting the characteristics as sensor signals; and a controller configured for receiving the sensor signals, wherein the controller includes: tangible, non-transitory memory on which is recorded computer-executable instructions, including a state classification module; a processor configured for: executing the instructions from the tangible, non-transitory memory; classifying the sensor signals into at least two distinct classes via the state classification module; monitoring a system state of the robot using the classes; and controlling the robot in the execution of alternative work tasks based on the system state.