Abstract
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.
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