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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 Bu ̈chi 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.
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This content will become publicly available on June 15, 2026
Robust-Locomotion-by-Logic: Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control
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