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We present a stepping stabilization control that addresses external pushdisturbances on bipedal walking robots. The stepping control is synthesizedbased on the step-to-step (S2S) dynamics of the robot that is controlled tohave an approximately constant center of mass (COM) height. We first learn alinear S2S dynamics with bounded model discrepancy from the undisturbed walkingbehaviors of the robot, where the walking step size is taken as the controlinput to the S2S dynamics. External pushes are then considered as disturbancesto the learned S2S (L-S2S) dynamics. We then apply the system-level-synthesis(SLS) approach on the disturbed L-S2S dynamics to robustly stabilize the robotto the desired walking while satisfying the kinematic constraints of the robot.We successfully realize the proposed approach on the walking of the bipedalrobot AMBER and Cassie subject to push disturbances, showing that the approachis general, effective, and computationally-efficient for robust disturbancerejection.

Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation