# A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics

## TL;DR

This paper unifies reduced-order models and full-order hybrid dynamics for legged locomotion, providing formal stability guarantees by embedding ROMs into the full system through hybrid zero dynamics.

## Contribution

It introduces a layered control framework that ensures stability of full-order legged robot models based on reduced-order models using hybrid zero dynamics.

## Key findings

- Stable periodic orbits in ROM imply stable orbits in full-order models.
- Simulation confirms the theoretical stability transfer from ROM to FOM.
- Framework applies to linear inverted pendulum and planar walking models.

## Abstract

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.