Dynamic locomotion in legged robots is close to industrial collaboration, but a lack of standardized testing obstructs commercialization. The issues are not merely political, theoretical, or algorithmic but also physical, indicating limited studies and comprehension regarding standard testing infrastructure and equipment. For decades, the approaches we have been testing legged robots were rarely standardizable with hand-pushing, foot-kicking, rope-dragging, stick-poking, and ball-swinging. This paper aims to bridge the gap by proposing the use of the linear impactor, a well-established tool in other standardized testing disciplines, to serve as an adaptive, repeatable, and fair disturbance rejection testing equipment for legged robots. A pneumatic linear impactor is also adopted for the case study involving the humanoid robot Digit. Three locomotion controllers are examined, including a commercial one, using a walking-in-place task against frontal impacts. The statistically best controller was able to withstand the impact momentum (26.376 kg$\cdot$m/s) on par with a reported average effective momentum from straight punches by Olympic boxers (26.506 kg$\cdot$m/s). Moreover, the case study highlights other anti-intuitive observations, demonstrations, and implications that, to the best of the authors' knowledge, are first-of-its-kind revealed in real-world testing of legged robots.

翻译：足式机器人的动态运动已接近工业应用，但标准化测试的缺失阻碍了商业化进程。问题不仅涉及政治、理论或算法层面，更存在于物理层面——关于标准化测试基础设施与装备的研究和理解仍十分有限。数十年来，我们测试足式机器人的方法（手推、脚踢、拉绳、棍戳、摆球）几乎无法实现标准化。本文旨在弥合这一差距，提出采用线性冲击装置（其他标准化测试领域成熟的工具）作为足式机器人自适应、可重复且公平的抗扰测试设备。在涉及人形机器人Digit的案例研究中，采用气动线性冲击装置。通过面向正面冲击的原地行走任务，对三种运动控制器（含商用控制器）进行了测试。统计性能最优的控制器能够承受与奥运会拳击运动员直拳平均有效动量（26.506 kg·m/s）相当的冲击动量（26.376 kg·m/s）。此外，案例研究揭示了其他反直觉的观测现象、实验演示及启示——据作者所知，这些结果首次在足式机器人真实物理测试中被发现。