Temporal Logic Guided Locomotion Planning and Control in Cluttered Environments

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.