S. Kulgod, Wentao Chen, Junda Huang, Ye Zhao, Nikolay A. Atanasov
{"title":"Temporal Logic Guided Locomotion Planning and Control in Cluttered Environments","authors":"S. Kulgod, Wentao Chen, Junda Huang, Ye Zhao, Nikolay A. Atanasov","doi":"10.23919/ACC45564.2020.9147621","DOIUrl":null,"url":null,"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 Büchi 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.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"12","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 American Control Conference (ACC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.23919/ACC45564.2020.9147621","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 12
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 Büchi 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.