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…