Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Capturability-based Pattern Generation for Walking with Variable Height   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.

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The categories of this paper are: hep-ph
22
The categories of this paper are: chao-dyn
37
The categories of this paper are: supr-con
10
The categories of this paper are: q-bio
31
The categories of this paper are: ao-sci
5
The categories of this paper are: gr-qc
29
The categories of this paper are: funct-an
14
The categories of this paper are: math-ph
21
The categories of this paper are: adap-org
9
The categories of this paper are: nlin
13
The categories of this paper are: quant-ph
16
The categories of this paper are: stat
7
The categories of this paper are: hep-th
6
The categories of this paper are: astro-ph
23
The categories of this paper are: solv-int
12
The categories of this paper are: nucl-th