Cover Image

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

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Gu, Zhaoyuan, Zhao, Yuntian, Chen, Yipu, Guo, Rongming, Leestma, Jennifer K., Sawicki, Gregory S., Zhao, Ye
Format:	Preprint
Published:	2024
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

RL-augmented Adaptive Model Predictive Control for Bipedal Locomotion over Challenging Terrain
by: Kamohara, Junnosuke, et al.
Published: (2025)

Robust RL Control for Bipedal Locomotion with Closed Kinematic Chains
by: Maslennikov, Egor, et al.
Published: (2025)

PPF: Pre-training and Preservative Fine-tuning of Humanoid Locomotion via Model-Assumption-based Regularization
by: Jung, Hyunyoung, et al.
Published: (2025)

Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control
by: Li, Zhongyu, et al.
Published: (2024)

Accelerating Signal-Temporal-Logic-Based Task and Motion Planning of Bipedal Navigation using Benders Decomposition
by: Ren, Jiming, et al.
Published: (2025)

Descriptive Model-based Learning and Control for Bipedal Locomotion
by: Kumar, Suraj, et al.
Published: (2025)

Capture Point Control in Thruster-Assisted Bipedal Locomotion
by: Pitroda, Shreyansh, et al.
Published: (2024)

RL-augmented MPC Framework for Agile and Robust Bipedal Footstep Locomotion Planning and Control
by: Bang, Seung Hyeon, et al.
Published: (2024)

LIPM-Guided Reinforcement Learning for Stable and Perceptive Locomotion in Bipedal Robots
by: Su, Haokai, et al.
Published: (2025)

Nonlinear Model Predictive Control for Robust Bipedal Locomotion: Exploring Angular Momentum and CoM Height Changes
by: Ding, Jiatao, et al.
Published: (2019)

Bipedal Safe Navigation over Uncertain Rough Terrain: Unifying Terrain Mapping and Locomotion Stability
by: Muenprasitivej, Kasidit, et al.
Published: (2024)

The Strange Attractor Model of Bipedal Locomotion and its Consequences on Motor Control
by: Tiseo, Carlo, et al.
Published: (2018)

Learning Vision-Based Bipedal Locomotion for Challenging Terrain
by: Duan, Helei, et al.
Published: (2023)

Physics-informed Neural Network Predictive Control for Quadruped Locomotion
by: Li, Haolin, et al.
Published: (2025)

Learn to Teach: Sample-Efficient Privileged Learning for Humanoid Locomotion over Diverse Terrains
by: Wu, Feiyang, et al.
Published: (2024)

Contingency Model Predictive Control for Bipedal Locomotion on Moving Surfaces with a Linear Inverted Pendulum Model
by: Chen, Kuo, et al.
Published: (2024)

Sim-to-Real Transfer in Deep Reinforcement Learning for Bipedal Locomotion
by: Bao, Lingfan, et al.
Published: (2025)

Deep Reinforcement Learning for Bipedal Locomotion: A Brief Survey
by: Bao, Lingfan, et al.
Published: (2024)

Learning Terrain Aware Bipedal Locomotion via Reduced Dimensional Perceptual Representations
by: Castillo, Guillermo A., et al.
Published: (2025)

Learning Quadruped Locomotion Policies using Logical Rules
by: DeFazio, David, et al.
Published: (2021)

The Duke Humanoid: Design and Control For Energy Efficient Bipedal Locomotion Using Passive Dynamics
by: Xia, Boxi, et al.
Published: (2024)

Data-Driven Predictive Control for Robust Exoskeleton Locomotion
by: Li, Kejun, et al.
Published: (2024)

Human Imitated Bipedal Locomotion with Frequency Based Gait Generator Network
by: Ates, Yusuf Baran, et al.
Published: (2025)

Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning
by: Gu, Zhaoyuan, et al.
Published: (2025)

TOLEBI: Learning Fault-Tolerant Bipedal Locomotion via Online Status Estimation and Fallibility Rewards
by: Lee, Hokyun, et al.
Published: (2026)

Adaptive Step Duration for Accurate Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds
by: Xiang, Zhaoyang, et al.
Published: (2024)

Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion
by: Youm, Donghoon, et al.
Published: (2023)

Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs
by: Katayama, Sotaro, et al.
Published: (2025)

Constrained Reinforcement Learning for Unstable Point-Feet Bipedal Locomotion Applied to the Bolt Robot
by: Roux, Constant, et al.
Published: (2025)

Quadratic Programming Optimization for Bio-Inspired Thruster-Assisted Bipedal Locomotion on Inclined Slopes
by: Pitroda, Shreyansh, et al.
Published: (2024)

Real-time Whole-body Model Predictive Control for Bipedal Locomotion with a Novel Kino-dynamic Model and Warm-start Method
by: Kim, Junhyung, et al.
Published: (2025)

Signal Temporal Logic Planning with Time-Varying Robustness
by: Yuan, Yating, et al.
Published: (2024)

Model Predictive Robustness of Signal Temporal Logic Predicates
by: Lin, Yuanfei, et al.
Published: (2022)

Optimization-based Task and Motion Planning under Signal Temporal Logic Specifications using Logic Network Flow
by: Lin, Xuan, et al.
Published: (2024)

Deformable Multibody Modeling for Model Predictive Control in Legged Locomotion with Embodied Compliance
by: Ye, Keran, et al.
Published: (2025)

Optimizing Bipedal Locomotion for The 100m Dash With Comparison to Human Running
by: Crowley, Devin, et al.
Published: (2025)

VMTS: Vision-Assisted Teacher-Student Reinforcement Learning for Multi-Terrain Locomotion in Bipedal Robots
by: Chen, Fu, et al.
Published: (2025)

Hybrid Data-Driven Predictive Control for Robust and Reactive Exoskeleton Locomotion Synthesis
by: Li, Kejun, et al.
Published: (2025)

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots
by: Ghansah, Adrian B., et al.
Published: (2025)

RoMoCo: Robotic Motion Control Toolbox for Reduced-Order Model-Based Locomotion on Bipedal and Humanoid Robots
by: Dai, Min, et al.
Published: (2025)