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

24 March 2024

Zhaoyuan Gu

Jennifer K. Leestma

Gregory S Sawicki

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

17 / 17 papers shown

Title
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 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 Zhaoyuan Gu Rong Guo William Yates Yipu Chen Ye Zhao 42 14 0 22 Sep 2023
Reachability Aware Capture Regions with Time Adjustment and Cross-Over for Step Recovery Robert Griffin James Foster Stefan Fasano Brandon Shrewsbury Sylvain Bertrand 54 8 0 22 Jul 2023
Robot Operating System 2: Design, Architecture, and Uses In The Wild Steve Macenski Tully Foote Brian P. Gerkey Chris Lalancette W. Woodall 64 831 0 14 Nov 2022
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 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 Dawei Sun Jingkai Chen Sayan Mitra Chuchu Fan 51 83 0 13 Jan 2022
Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments James Hegarty Zhaoyuan Gu J. Warnke Seth Hutchinson Armin Alaghi 60 34 0 23 Oct 2021
Reactive Locomotion Decision-Making and Robust Motion Planning for Real-Time Perturbation Recovery Zhaoyuan Gu Nathan Boyd Ye Zhao 45 16 0 06 Oct 2021
Backpropagation through Signal Temporal Logic Specifications: Infusing Logical Structure into Gradient-Based Methods Karen Leung Nikos Arechiga Marco Pavone 44 92 0 31 Jul 2020
A Smooth Robustness Measure of Signal Temporal Logic for Symbolic Control Yann Gilpin Vince Kurtz Hai Lin 45 90 0 09 Jun 2020
Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas Stefano Dafarra Sylvain Bertrand Robert J. Griffin Giorgio Metta Daniele Pucci J. Pratt 111 17 0 25 Apr 2020
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 396 42,299 0 03 Dec 2019
Reactive Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments Ye Zhao Yinan Li Luis Sentis Ufuk Topcu Jun Liu 50 26 0 11 Nov 2018
Robust Optimal Planning and Control of Non-Periodic Bipedal Locomotion with A Centroidal Momentum Model Ye Zhao B. Fernández Luis Sentis 32 38 0 19 Aug 2017
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