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This study proposes a novel planning framework based on a model predictive control formulation that incorporates signal temporal logic (STL) specifications for task completion guarantees and robustness quantification.
Z. Gu, N. Boyd, and Y. Zhao, “Reactive locomotion decision-making and robust motion planning for real-time perturbation recovery,” in International Conference on Robotics and Automation , 2022, pp. 1896–1902
1902
Earlier work this paper cites.
S. Kajita, F. Kanehiro, K. Kaneko, K. Yokoi, and H. Hirukawa, “The 3d linear inverted pendulum mode: a simple modeling for a biped walking pattern generation,” in Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems , vol. 1, 2001, pp. 239–246 vol.1
2001
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S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, and H. Hirukawa, “Biped walking pattern generation by using preview control of zero-moment point,” in IEEE International Conference on Robotics and Automation , vol. 2, 2003, pp. 1620–1626
2003
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O. Maler and D. Nickovic, “Monitoring temporal properties of continuous signals,” in Formal Techniques, Modelling and Analysis of Timed and Fault-Tolerant Systems , Y. Lakhnech and S. Yovine, Eds. Berlin, Heidelberg: Springer Berlin Heidelberg, 2004, pp. 152–166
2004
Earlier work this paper cites.
G. E. Fainekos and G. J. Pappas, “Robustness of temporal logic specifications for continuous-time signals,” Theoretical Computer Science , vol. 410, no. 42, pp. 4262–4291, 2009
2009
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T. Koolen, T. de Boer, J. Rebula, A. Goswami, and J. Pratt, “Capturability-based analysis and control of legged locomotion, part 1: Theory and application to three simple gait models,” The International Journal of Robotics Research , vol. 31, no. 9, pp. 1094–1113, 2012
2012
Earlier work this paper cites.
V. Raman, A. Donzé, M. Maasoumy, R. M. Murray, A. Sangiovanni-Vincentelli, and S. A. Seshia, “Model predictive control with signal temporal logic specifications,” in 53rd IEEE Conference on Decision and Control , 2014, pp. 81–87
2014
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S. Sadraddini and C. Belta, “Robust temporal logic model predictive control,” in 53rd Annual Allerton Conference on Communication, Control, and Computing , 2015, pp. 772–779
2015
Earlier work this paper cites.
P. Zaytsev, S. J. Hasaneini, and A. Ruina, “Two steps is enough: No need to plan far ahead for walking balance,” in IEEE International Conference on Robotics and Automation , 2015, pp. 6295–6300
2015
Earlier work this paper cites.
R. J. Griffin, G. Wiedebach, S. Bertrand, A. Leonessa, and J. Pratt, “Walking stabilization using step timing and location adjustment on the humanoid robot, atlas,” in IEEE/RSJ International Conference on Intelligent Robots and Systems , 2017, pp. 667–673
2017
Cited alongside, same era.
Y. Zhao, B. R. Fernandez, and L. Sentis, “Robust optimal planning and control of non-periodic bipedal locomotion with a centroidal momentum model,” The International Journal of Robotics Research , vol. 36, no. 11, pp. 1211–1242, 2017
2017
Cited alongside, same era.
H. Sadeghian, C. Ott, G. Garofalo, and G. Cheng, “Passivity-based control of underactuated biped robots within hybrid zero dynamics approach,” in IEEE International Conference on Robotics and Automation , 2017, pp. 4096–4101
2017
Cited alongside, same era.
Y. V. Pant, H. Abbas, and R. Mangharam, “Smooth operator: Control using the smooth robustness of temporal logic,” in IEEE Conference on Control Technology and Applications , 2017, pp. 1235–1240
J. Warnke, A. Shamsah, Y. Li, and Y. Zhao, “Towards safe locomotion navigation in partially observable environments with uneven terrain,” in IEEE Conference on Decision and Control , 2020, pp. 958–965
2020
Later among the works it cites.
M. Khadiv, A. Herzog, S. A. A. Moosavian, and L. Righetti, “Walking control based on step timing adaptation,” IEEE Transactions on Robotics , vol. 36, no. 3, pp. 629–643, 2020
2020
Later among the works it cites.
Y. Gong and J. W. Grizzle, “One-step ahead prediction of angular momentum about the contact point for control of bipedal locomotion: Validation in a lip-inspired controller,” in IEEE International Conference on Robotics and Automation , 2021, pp. 2832–2838
2021
Later among the works it cites.
Y. Gilpin, V. Kurtz, and H. Lin, “A smooth robustness measure of signal temporal logic for symbolic control,” IEEE Control Systems Letters , vol. 5, no. 1, pp. 241–246, 2021
2021
Later among the works it cites.
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2017
Cited alongside, same era.
H. Kress-Gazit, M. Lahijanian, and V. Raman, “Synthesis for robots: Guarantees and feedback for robot behavior,” Annual Review of Control, Robotics, and Autonomous Systems , vol. 1, no. 1, pp. 211–236, 2018
2018
Cited alongside, same era.
C. Belta and S. Sadraddini, “Formal methods for control synthesis: An optimization perspective,” Annual Review of Control, Robotics, and Autonomous Systems , vol. 2, no. 1, pp. 115–140, 2019
2019
Cited alongside, same era.
J. Ding, C. Zhou, Z. Guo, X. Xiao, and N. Tsagarakis, “Versatile reactive bipedal locomotion planning through hierarchical optimization,” in International Conference on Robotics and Automation , 2019, pp. 256–262
2019
Cited alongside, same era.
S. Kulgod, W. Chen, J. Huang, Y. Zhao, and N. Atanasov, “Temporal logic guided locomotion planning and control in cluttered environments,” in American Control Conference , 2020, pp. 5425–5432
2020
Cited alongside, same era.
C. Khazoom and S. Kim, “Humanoid arm motion planning for improved disturbance recovery using model hierarchy predictive control,” in International Conference on Robotics and Automation , 2022, pp. 6607–6613
2022
Later among the works it cites.
C. Khazoom, D. Gonzalez-Diaz, Y. Ding, and S. Kim, “Humanoid self-collision avoidance using whole-body control with control barrier functions,” in IEEE-RAS 21st International Conference on Humanoid Robots , 2022, pp. 558–565
2022
Later among the works it cites.
D. Marew, M. Lvovsky, S. Yu, S. Sessions, and D. Kim, “Riemannian motion policy for robust balance control in dynamic legged locomotion,” 2023
2023
Closest in time.
R. Griffin, J. Foster, S. Fasano, B. Shrewsbury, and S. Bertrand, “Reachability aware capture regions with time adjustment and cross-over for step recovery,” 2023
2023
Closest in time.