← Back to Benchmarks
simmediumlocomotionmetric · varies
Robust-Locomotion-by-Logic: Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control
Description
This study introduces a robust planning framework that utilizes a model predictive control (MPC) approach, enhanced by incorporating signal temporal logic (STL) specifications. This marks the first-ever study to apply STL-guided trajectory optimization for bipedal locomotion, specifically designed to handle both translational and orientational perturbations. Existing recovery strategies often struggle with reasoning complex task logic and evaluating locomotion robustness systematically, making t