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：生成能在双足机器人上稳健行走的步态，是实现其在硬件上成功应用的关键。为此，本研究扩展了混合零动力学方法——传统上仅通过完美碰撞事件下的周期性约束来保证运动稳定性——通过引入跃迁矩阵，旨在合成鲁棒行走步态。通过在步态生成过程中联合最小化扩展跃迁矩阵的范数与机器人扭矩，我们证明合成的步态比单独使用任意一项生成的步态更具鲁棒性；这一结果在AMBER-3M平面双足机器人和Atalante下肢外骨骼（无论是否搭载人体受试者）的仿真与硬件实验中均得到验证。最终成果表明：将跃迁矩阵与混合零动力学方法相结合，可在实践中实现更鲁棒的双足行走。