Capturability-based Pattern Generation for Walking with Variable Height

Stéphane Caron, Adrien Escande, Leonardo Lanari and Bastien Mallein. Submitted January 2018. Revised October 2018.


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.



pdf Pre-print
pdf Slides: presentation given at NTU on 14 May 2018
github Capture Problem Solver (C++)
github Capture Walking Controller (C++)

Additional content

github Capture Walking Pattern Generator (Python): prototype, not used in the controller
pdf Walking pattern generator manual in HTML or PDF


  title = {Capturability-based Pattern Generation for Walking with Variable Height},
  author = {Caron, St{\'e}phane and Escande, Adrien and Lanari, Leonardo and Mallein, Bastien},
  url = {},
  note = {Submitted},
  year = {2018},
  month = oct,

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