Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive Control for Bipedal Locomotion Resilient to External Perturbations
Author:
Affiliation:
1. Georgia Institute of Technology,Laboratory for Intelligent Decision and Autonomous Robots, Woodruff School of Mechanical Engineering
Funder
Office of Naval Research
Publisher
IEEE
Link
http://xplorestaging.ieee.org/ielx8/10609961/10609862/10610811.pdf?arnumber=10610811
Reference29 articles.
1. Humanoid Arm Motion Planning for Improved Disturbance Recovery Using Model Hierarchy Predictive Control
2. One-Step Ahead Prediction of Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-inspired Controller
3. Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions
4. Integration of Riemannian Motion Policy with Whole-Body Control for Collision-Free Legged Locomotion
5. Temporal Logic Guided Locomotion Planning and Control in Cluttered Environments
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