Name
Abstract | ||
|---|---|---|
We present planning and control techniques for non-periodic locomotion tasks specified by temporal logic in rough cluttered terrains. Our planning approach is based on a discrete set of motion primitives for the center of mass (CoM) of a general bipedal robot model. A deterministic shortest path problem is solved over the Buchi automaton of the temporal logic task specification, composed with the graph of CoM keyframe states generated by the motion primitives. A low-level controller based on quadratic programming is proposed to track the resulting CoM and foot trajectories. We demonstrate dynamically stable, non-periodic locomotion of a kneed compass gait bipedal robot satisfying complex task specifications. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.23919/ACC45564.2020.9147621 | 2020 AMERICAN CONTROL CONFERENCE (ACC) |
DocType | ISSN | Citations |
Conference | 0743-1619 | 0 |
PageRank | References | Authors |
0.34 | 0 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Sutej Kulgod | 1 | 0 | 0.34 |
| Wentao Chen | 2 | 0 | 0.34 |
| Junda Huang | 3 | 0 | 0.34 |
| Ye Zhao | 4 | 0 | 2.70 |
| Nikolay Atanasov | 5 | 162 | 24.84 |