A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics
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arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Acceso en línea: | |
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| _version_ | 1866914014441766912 |
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| author | Esteban, Sergio A. Cohen, Max H. Ghansah, Adrian B. Ames, Aaron D. |
| author_facet | Esteban, Sergio A. Cohen, Max H. Ghansah, Adrian B. Ames, Aaron D. |
| contents | Reduced-order models (ROMs) provide a powerful means of synthesizing dynamic walking gaits on legged robots. Yet this approach lacks the formal guarantees enjoyed by methods that utilize the full-order model (FOM) for gait synthesis, e.g., hybrid zero dynamics. This paper aims to unify these approaches through a layered control perspective. In particular, we establish conditions on when a ROM of locomotion yields stable walking on the full-order hybrid dynamics. To achieve this result, given an ROM we synthesize a zero dynamics manifold encoding the behavior of the ROM -- controllers can be synthesized that drive the FOM to this surface, yielding hybrid zero dynamics. We prove that a stable periodic orbit in the ROM implies an input-to-state stable periodic orbit of the FOM's hybrid zero dynamics, and hence the FOM dynamics. This result is demonstrated in simulation on a linear inverted pendulum ROM and a 5-link planar walking FOM. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_00294 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics Esteban, Sergio A. Cohen, Max H. Ghansah, Adrian B. Ames, Aaron D. Systems and Control Robotics Reduced-order models (ROMs) provide a powerful means of synthesizing dynamic walking gaits on legged robots. Yet this approach lacks the formal guarantees enjoyed by methods that utilize the full-order model (FOM) for gait synthesis, e.g., hybrid zero dynamics. This paper aims to unify these approaches through a layered control perspective. In particular, we establish conditions on when a ROM of locomotion yields stable walking on the full-order hybrid dynamics. To achieve this result, given an ROM we synthesize a zero dynamics manifold encoding the behavior of the ROM -- controllers can be synthesized that drive the FOM to this surface, yielding hybrid zero dynamics. We prove that a stable periodic orbit in the ROM implies an input-to-state stable periodic orbit of the FOM's hybrid zero dynamics, and hence the FOM dynamics. This result is demonstrated in simulation on a linear inverted pendulum ROM and a 5-link planar walking FOM. |
| title | A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2509.00294 |