Capturability-based Pattern Generation for Walking with Variable Height

Stéphane Caron (1) , Adrien Escande (2) , Leonardo Lanari (3) , Bastien Mallein (4)

1 IDH - Interactive Digital Humans
2 CNRS-AIST JRL - Joint Robotics Laboratory
3 DIAG UNIROMA - Dipartimento di Ingegneria informatica automatica e gestionale [Roma]
4 LAGA - Laboratoire Analyse, Géométrie et Applications

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.

Mots clés: Bipedal walking; Uneven terrain; Capturability

Domaines: Robotique [cs.RO]

Stéphane Caron, Adrien Escande, Leonardo Lanari, Bastien Mallein. Capturability-based Pattern Generation for Walking with Variable Height. IEEE Transactions on Robotics, 2020, 36 (2), pp.517-536. ⟨10.1109/TRO.2019.2923971⟩. ⟨hal-01689331v3⟩