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Capturability-based Pattern Generation for Walking with Variable Height

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.
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Contributor : Stéphane Caron <>
Submitted on : Thursday, April 11, 2019 - 11:22:09 AM
Last modification on : Tuesday, October 20, 2020 - 3:56:34 PM


Distributed under a Creative Commons Attribution - ShareAlike 4.0 International License



Stéphane Caron, Adrien Escande, Leonardo Lanari, Bastien Mallein. Capturability-based Pattern Generation for Walking with Variable Height. IEEE Transactions on Robotics, IEEE, In press, ⟨10.1109/TRO.2019.2923971⟩. ⟨hal-01689331v3⟩



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