2 papers
cs.RO2025
Epically Powerful: An open-source software and mechatronics infrastructure for wearable robotic systems
Jennifer K. Leestma, Siddharth R. Nathella, Christoph P. O. Nuesslein +3
Epically Powerful is an open-source robotics infrastructure that streamlines the underlying framework of wearable robotic systems - managing communication protocols, clocking, actu…
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…