Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive Control for Bipedal Locomotion Resilient to External Perturbations
Zhaoyuan Gu,Rongming Guo,William Yates,Yipu Chen,Yuntian Zhao,Ye Zhao,Zhaoyuan Gu,Rongming Guo,William Yates,Yipu Chen,Yuntian Zhao,Ye Zhao
This study proposes a novel planning framework based on a model predictive control formulation that incorporates signal temporal logic (STL) specifications for task completion guarantees and robustness quantification. This marks the first-ever study to apply STL-guided trajectory optimization for bipedal locomotion push recovery, where the robot experiences unexpected disturbances. Existing recove...
