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Capturability-Based Pattern Generation for Walking With Variable Height
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DOI：10.1109/TRO.2019.2923971.png)
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Abstract
En 中文
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.
Keywords:
Legged locomotion
Lips
Mathematical model
Trajectory
Contacts
Optimization
Bipedal walking
capturability
uneven terrain
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