Papers › Capturability-based Pattern Generation for Walking with Variable Height
Capturability-based Pattern Generation for Walking with Variable Height
Stéphane Caron, Adrien Escande, Leonardo Lanari, Bastien Mallein
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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.
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