Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive Control for Bipedal Locomotion Resilient to External Perturbations.
Zhaoyuan GuRongming GuoWilliam YatesYipu ChenYe ZhaoPublished in: CoRR (2023)
Keyphrases
- temporal logic
- model predictive control
- modal logic
- linear temporal logic
- predicate logic
- model checking
- humanoid robot
- verification method
- control system
- predictive control
- central pattern generator
- bounded model checking
- transition systems
- automata theoretic
- model checker
- satisfiability problem
- epistemic logic
- walking speed
- modal operators
- inference rules
- linear time temporal logic
- legged robots
- concurrent systems
- closed loop
- mazurkiewicz traces
- belief revision
- robotic systems
- mobile robot
- computation tree logic
- logical framework
- formal verification
- mpc algorithm
- artificial intelligence
- real time
- set theory
- logical formulas
- autonomous robots
- motion planning
- control strategy
- knowledge base