Capturability-based Pattern Generation for Walking with Variable Height

Stéphane Caron, Adrien Escande, Leonardo Lanari and Bastien Mallein. IEEE Transactions on Robotics. Submitted January 2018. Accepted May 2019. Published April 2020.


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.



  title = {Capturability-based Pattern Generation for Walking with Variable Height},
  author = {Caron, St{\'e}phane and Escande, Adrien and Lanari, Leonardo and Mallein, Bastien},
  journal = {IEEE Transactions on Robotics},
  year = {2020},
  month = apr,
  volume = {36},
  number = {2},
  pages = {517--536},
  url = {},
  publisher = {IEEE},
  doi = {10.1109/TRO.2019.2923971},


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