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Dynamic locomotion in legged robots is close to industrial collaboration, buta lack of standardized testing obstructs commercialization. The issues are notmerely political, theoretical, or algorithmic but also physical, indicatinglimited studies and comprehension regarding standard testing infrastructure andequipment. For decades, the approaches we have been testing legged robots wererarely standardizable with hand-pushing, foot-kicking, rope-dragging,stick-poking, and ball-swinging. This paper aims to bridge the gap by proposingthe use of the linear impactor, a well-established tool in other standardizedtesting disciplines, to serve as an adaptive, repeatable, and fair disturbancerejection testing equipment for legged robots. A pneumatic linear impactor isalso adopted for the case study involving the humanoid robot Digit. Threelocomotion controllers are examined, including a commercial one, using awalking-in-place task against frontal impacts. The statistically bestcontroller was able to withstand the impact momentum (26.376 kg$\cdot$m/s) onpar with a reported average effective momentum from straight punches by Olympicboxers (26.506 kg$\cdot$m/s). Moreover, the case study highlights otheranti-intuitive observations, demonstrations, and implications that, to the bestof the authors' knowledge, are first-of-its-kind revealed in real-world testingof legged robots.

Towards Standardized Disturbance Rejection Testing of Legged Robot  Locomotion with Linear Impactor: A Preliminary Study, Observations, and  Implications