# Capturability-based Pattern Generation for Walking with Variable Height

arXiv: https://arxiv.org/abs/1801.07022 · HTML: https://mlsanity.com/paper/1801.07022/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 22 Jan 2018.

## Built on by (most cited first, 1 of 1)

- [Autonomous Navigation of Underactuated Bipedal Robots in Height-Constrained Environments](https://mlsanity.com/paper/2109.05714/) (2021)

## Abstract (arXiv)

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.