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Robust-Locomotion-by-Logic: Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control

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
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Papers citing "Robust-Locomotion-by-Logic: Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control"

16 / 16 papers shown
Title
Optimization-based Task and Motion Planning under Signal Temporal Logic Specifications using Logic Network Flow
Optimization-based Task and Motion Planning under Signal Temporal Logic Specifications using Logic Network Flow
Xuan Lin
Jiming Ren
Samuel Coogan
Ye Zhao
45
2
0
27 Sep 2024
Adapting Gait Frequency for Posture-regulating Humanoid Push-recovery via Hierarchical Model Predictive Control
Adapting Gait Frequency for Posture-regulating Humanoid Push-recovery via Hierarchical Model Predictive Control
Junheng Li
Zhanhao Le
Junchao Ma
Quan Nguyen
48
1
0
22 Sep 2024
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
Zhaoyuan Gu
Rong Guo
William Yates
Yipu Chen
Ye Zhao
37
14
0
22 Sep 2023
Reachability Aware Capture Regions with Time Adjustment and Cross-Over for Step Recovery
Reachability Aware Capture Regions with Time Adjustment and Cross-Over for Step Recovery
Robert Griffin
James Foster
Stefan Fasano
Brandon Shrewsbury
Sylvain Bertrand
47
8
0
22 Jul 2023
Robot Operating System 2: Design, Architecture, and Uses In The Wild
Robot Operating System 2: Design, Architecture, and Uses In The Wild
Steve Macenski
Tully Foote
Brian P. Gerkey
Chris Lalancette
W. Woodall
64
828
0
14 Nov 2022
Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions
Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions
Charles Khazoom
Daniel Gonzalez Diaz
Yanran Ding
Sangbae Kim
65
31
0
01 Jul 2022
Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance
Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance
Hua Chen
Zejun Hong
Shunpeng Yang
Patrick M. Wensing
Wei Zhang
41
18
0
28 Jan 2022
Multi-agent Motion Planning from Signal Temporal Logic Specifications
Multi-agent Motion Planning from Signal Temporal Logic Specifications
Dawei Sun
Jingkai Chen
Sayan Mitra
Chuchu Fan
51
81
0
13 Jan 2022
Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments
Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments
James Hegarty
Zhaoyuan Gu
J. Warnke
Seth Hutchinson
Armin Alaghi
58
34
0
23 Oct 2021
Reactive Locomotion Decision-Making and Robust Motion Planning for Real-Time Perturbation Recovery
Reactive Locomotion Decision-Making and Robust Motion Planning for Real-Time Perturbation Recovery
Zhaoyuan Gu
Nathan Boyd
Ye Zhao
40
16
0
06 Oct 2021
Backpropagation through Signal Temporal Logic Specifications: Infusing Logical Structure into Gradient-Based Methods
Backpropagation through Signal Temporal Logic Specifications: Infusing Logical Structure into Gradient-Based Methods
Karen Leung
Nikos Arechiga
Marco Pavone
42
92
0
31 Jul 2020
A Smooth Robustness Measure of Signal Temporal Logic for Symbolic Control
A Smooth Robustness Measure of Signal Temporal Logic for Symbolic Control
Yann Gilpin
Vince Kurtz
Hai Lin
40
90
0
09 Jun 2020
PyTorch: An Imperative Style, High-Performance Deep Learning Library
PyTorch: An Imperative Style, High-Performance Deep Learning Library
Adam Paszke
Sam Gross
Francisco Massa
Adam Lerer
James Bradbury
...
Sasank Chilamkurthy
Benoit Steiner
Lu Fang
Junjie Bai
Soumith Chintala
ODL
379
42,299
0
03 Dec 2019
Reactive Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments
Reactive Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments
Ye Zhao
Yinan Li
Luis Sentis
Ufuk Topcu
Jun Liu
45
26
0
11 Nov 2018
Robust Optimal Planning and Control of Non-Periodic Bipedal Locomotion with A Centroidal Momentum Model
Robust Optimal Planning and Control of Non-Periodic Bipedal Locomotion with A Centroidal Momentum Model
Ye Zhao
B. Fernández
Luis Sentis
25
38
0
19 Aug 2017
Walking Stabilization Using Step Timing and Location Adjustment on the Humanoid Robot, Atlas
Walking Stabilization Using Step Timing and Location Adjustment on the Humanoid Robot, Atlas
Robert J. Griffin
Georg Wiedebach
Sylvain Bertrand
Alexander Leonessa
J. Pratt
61
99
0
01 Mar 2017

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