The ability to generate robust walking gaits on bipedal robots is key to their successful realization on hardware. To this end, this work extends the method of Hybrid Zero Dynamics (HZD) -- which traditionally only accounts for locomotive stability via periodicity constraints under perfect impact events -- through the inclusion of the saltation matrix with a view toward synthesizing robust walking gaits. By jointly minimizing the norm of the extended saltation matrix and the torque of the robot directly in the gait generation process, we demonstrate that the synthesized gaits are more robust than gaits generated with either term alone; these results are shown in simulation and on hardware for the AMBER-3M planar biped and the Atalante lower-body exoskeleton (both with and without a human subject). The end result is experimental validation that combining saltation matrices with HZD methods produces more robust bipedal walking in practice.

翻译：在双翼机器人上形成稳健的行走步曲是其成功实现硬件目标的关键。为此,这项工作扩展了混合零动力(HZD)方法 -- -- 通常只在完美影响事件下通过周期性限制来计算机车稳定性 -- -- 通过纳入盐化矩阵,以合成稳健的行走步步曲。通过在动作生成过程中联合尽量减少延长的加盐矩阵和机器人的扭扭的规范,我们证明合成的口琴比单用两个术语生成的口琴都更强大;这些结果表现在模拟中和对AMBER-3M平板双翼和Atalante下体外骨莱顿的硬件(两者都与和不与人类主体有关)上。最终结果是实验性验证,将盐化矩阵与HZD方法相结合,在实践中产生更稳健的双足行走法。</s>