3 papers
cs.NE2026
How much of fly walking is written in the wiring?
Isabel Guan, Yuntian Zhao, Dingyuan Zhang +2
Connectome models of the fly nerve cord generate walking-like motor rhythms, but oscillation alone does not show that the specific wiring matters. Here we provide, to our knowledge…
cs.RO2024
Robust-Locomotion-by-Logic: Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control
Zhaoyuan Gu, Yuntian Zhao, Yipu Chen +4
This study introduces a robust planning framework that utilizes a model predictive control (MPC) approach, enhanced by incorporating signal temporal logic (STL) specifications. Thi…
cs.RO2023
Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive Control for Bipedal Locomotion Resilient to External Perturbations
Zhaoyuan Gu, Rongming Guo, William Yates +2
This study proposes a novel planning framework based on a model predictive control formulation that incorporates signal temporal logic (STL) specifications for task completion guar…