This study proposes a novel planning framework based on a model predictive control
formulation that incorporates signal temporal logic (STL) specifications for task completion …

This study introduces a robust planning framework that utilizes a model predictive control
(MPC) approach, enhanced by incorporating signal temporal logic (STL) specifications. This …

This paper introduces a new approach to enhance the robustness of humanoid walking
under strong perturbations, such as substantial pushes. Effective recovery from external …

For humans, fast, efficient walking over flat ground represents the vast majority of locomotion
that an individual experiences on a daily basis, and for an effective, real-world humanoid …

This study investigates formal-method-based trajectory optimization (TO) for bipedal
locomotion, focusing on scenarios where the robot encounters external perturbations at …

Despite major advancements in control design that are robust to unplanned disturbances,
bipedal robots are still susceptible to falling over and struggle to negotiate rough terrains. By …