Capturability-based Pattern Generation for Walking with Variable Height

TL;DR

This paper extends capturability analysis from the linear inverted pendulum to a variable-height model, enabling real-time 3D walking over uneven terrains through optimized capture inputs.

Contribution

It introduces a generalized capturability analysis for variable-height models and a real-time optimization scheme for 3D walking control.

Findings

Enables 3D walking over uneven terrains.

Provides a real-time control scheme.

Demonstrates effectiveness in simulations.

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.