Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive Control for Bipedal Locomotion Resilient to External Perturbations.
Zhaoyuan GuRongming GuoWilliam YatesYipu ChenYuntian ZhaoYe ZhaoPublished in: ICRA (2024)
Keyphrases
- temporal logic
- model predictive control
- modal logic
- linear temporal logic
- predicate logic
- model checking
- control system
- humanoid robot
- central pattern generator
- predictive control
- model checker
- bounded model checking
- verification method
- automata theoretic
- transition systems
- legged robots
- epistemic logic
- concurrent systems
- modal operators
- satisfiability problem
- inference rules
- walking speed
- linear time temporal logic
- closed loop
- mobile robot
- computation tree logic
- formal specification language
- temporal knowledge
- control scheme
- neural network
- mazurkiewicz traces
- dynamic constraints
- inverted pendulum
- formal specification
- belief revision
- logical formulas
- reactive systems
- formal verification
- multiple models
- multi agent systems