Archives for January 2022

Here is a video of the content of the class and selected project presentations:

Ye Zhao, Yinan Li, Luis Sentis, Ufuk Topcu, Jun Liu, Reactive Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments, The International Journal of Robotics Research, In Press 2022

This study takes a first step toward formally and reactively task planning and whole-body dynamic loco-manipulation behaviors in constrained and dynamically changing environments. We formulate a two-player temporal logic game between the multi-limb locomotion planner and its dynamic environment to synthesize a winning strategy that delivers symbolic locomotion actions. A controller further executes low-level motion primitives that generate feasible locomotion trajectories.