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Dettaglio pubblicazione

2020, IEEE TRANSACTIONS ON ROBOTICS, Pages 517-536 (volume: 36)

Capturability-Based Pattern Generation for Walking with Variable Height (01a Articolo in rivista)

Caron S., Escande A., Lanari L., Mallein B.

Capturability analysis of the linear inverted pendulum (LIP) model enabled walking with constrained height based on the capture point. In this paper, we generalize this analysis to the variable-height inverted pendulum (VHIP) and show how it enables 3-D 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.
Gruppo di ricerca: Robotics
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