Capturability-based Pattern Generation for Walking with Variable Height
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Publication:6296754
arXiv1801.07022MaRDI QIDQ6296754FDOQ6296754
Authors: Stéphane Caron, Adrien Escande, Leonardo Lanari, Bastien Mallein 
Publication date: 22 January 2018
Abstract: 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.
Has companion code repository: https://github.com/jrl-umi3218/CaptureProblemSolver
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