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 paper reports on developing an integrated framework for safety-aware informative
motion planning suitable for legged robots. The information-gathering planner takes a dense …

This paper introduces an analytically tractable and computationally efficient model for
legged robot dynamics during locomotion on a dynamic rigid surface (DRS), along with an …

In this paper, we suggest a control synthesis approach for the robust stabilization of an
underactuated mechanical system, the Inertial Wheel Inverted Pendulum (IWIP), with norm …

To improve biped locomotion's robustness to internal and external disturbances, this study
proposes a hierarchical structure with three control levels. At the high level, a foothold …

This study addresses the challenge of social bipedal navigation in a dynamic, human-
crowded environment, a research area largely underexplored in legged robot navigation …

This study proposes a hierarchically integrated framework for safe task and motion planning
(TAMP) of bipedal locomotion in a partially observable environment with dynamic obstacles …

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

Estimation of center of mass (CoM) and center of pressure (CoP) is critical for lower limb
exoskeletons, prostheses, and legged robots. To meet the demand in these fields, this study …

In this paper, we examine the problem of push recovery for bipedal robot locomotion and
present a reactive decision-making and robust planning framework for locomotion resilient …