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.

中文翻译：

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基于可捕获性的可变高度步行模式生成

线性倒立摆 (LIP) 模型的可捕获性分析支持基于捕获点以受限高度行走。在本文中，我们将此分析推广到可变高度倒立摆 (VHIP)，并展示它如何基于捕获输入在不平坦的地形上实现 3D 行走。由于定制的优化方案，我们可以足够快地计算这些输入以进行实时模型预测控制。我们将这种方法实现为开源软件，并在动态模拟中进行演示。