Capturability-based Pattern Generation for Walking with Variable Height

Autor:	Caron, Stéphane, Escande, Adrien, Lanari, Leonardo, Mallein, Bastien
Rok vydání:	2018
Předmět:	Computer Science - Robotics Mathematics - Optimization and Control
Druh dokumentu:	Working Paper
Popis:	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. Comment: Submitted
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/1801.07022 Zobrazit plný text záznamu View this record from Arxiv