Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive Control
for Bipedal Locomotion Resilient to External Perturbations

Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive Control for Bipedal Locomotion Resilient to External Perturbations

22 September 2023

Zhaoyuan Gu

Ye Zhao

Papers citing "Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive Control for Bipedal Locomotion Resilient to External Perturbations"

12 / 12 papers shown

Title
Hierarchical Temporal Logic Task and Motion Planning for Multi-Robot Systems Zhongqi Wei Xusheng Luo Changliu Liu 32 0 0 26 Apr 2025
PreCi: Pretraining and Continual Improvement of Humanoid Locomotion via Model-Assumption-Based Regularization Hyunyoung Jung Zhaoyuan Gu Ye Zhao Hae-Won Park Sehoon Ha 36 0 0 14 Apr 2025
Enhancing Model-Based Step Adaptation for Push Recovery through Reinforcement Learning of Step Timing and Region Tobias Egle Yashuai Yan Dongheui Lee Christian Ott 60 0 0 01 Nov 2024
Adaptive Ankle Torque Control for Bipedal Humanoid Walking on Surfaces with Unknown Horizontal and Vertical Motion Jacob Stewart I-Chia Chang Yan Gu Petros A. Ioannou 16 0 0 15 Oct 2024
Optimization-based Task and Motion Planning under Signal Temporal Logic Specifications using Logic Network Flow Xuan Lin Jiming Ren Samuel Coogan Ye Zhao 26 0 0 27 Sep 2024
Autotuning Bipedal Locomotion MPC with GRFM-Net for Efficient Sim-to-Real Transfer Qianzhong Chen Junheng Li Sheng Cheng N. Hovakimyan Quan Nguyen 26 0 0 24 Sep 2024
A Unified Approach to Multi-task Legged Navigation: Temporal Logic Meets Reinforcement Learning Jesse Jiang Samuel Coogan Ye Zhao 18 0 0 09 Jul 2024
Socially Acceptable Bipedal Robot Navigation via Social Zonotope Network Model Predictive Control Abdulaziz Shamsah Krishanu Agarwal Nigam Katta Abirath Raju Shreyas Kousik Ye Zhao 45 2 0 24 Jun 2024
A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches Zhigen Zhao Shuo Cheng Yan Ding Ziyi Zhou Shiqi Zhang Danfei Xu Ye Zhao 46 22 0 03 Apr 2024
Robust-Locomotion-by-Logic: Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control Zhaoyuan Gu Yuntian Zhao Yipu Chen Rongming Guo Jennifer K. Leestma Gregory S Sawicki Ye Zhao 31 9 0 24 Mar 2024
Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control He Li Patrick M. Wensing 44 13 0 06 Mar 2024
Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions Charles Khazoom Daniel Gonzalez Diaz Yanran Ding Sangbae Kim 40 31 0 01 Jul 2022