Capturability analysis of the linear inverted pendulum (LIP) model enabled walking with constrained height based on the capture point. We generalize this analysis to the variable-height inverted pendulum (VHIP) and show how it enables 3D walking over uneven terrains based on capture inputs. Thanks to a tailored optimization scheme, we can compute these inputs fast enough for real-time model predictive control. We implement this approach as open-source software and demonstrate it in dynamic simulations.
Cite
@article{arxiv.1801.07022,
title = {Capturability-based Pattern Generation for Walking with Variable Height},
author = {Stéphane Caron and Adrien Escande and Leonardo Lanari and Bastien Mallein},
journal= {arXiv preprint arXiv:1801.07022},
year = {2018}
}