This research focuses on trajectory optimization for bipedal locomotion, specifically in scenarios where the robot encounters unforeseen external perturbations. The work presents a task and motion planning framework that generates optimal control sequences with formal guarantees of external perturbation recovery. This is achieved using a model predictive controller that encodes signal temporal logic-based task specifications as a cost function. The study represents the first instance of incorporating formal guarantees offered by signal temporal logic into a trajectory optimization for perturbation recovery of bipedal locomotion. The efficacy of the framework is demonstrated through simulations.
Publication date: 18 Oct 2023
Project Page: Not provided
Paper: https://arxiv.org/pdf/2310.11290
