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Measuring and applying feedback to these velocities is challenging, further complicated by uncertainty in the impact model and impact timing. This work proposes a general framework for adapting feedback control during impact by projecting the control objectives to a subspace that is invariant to the impact event. The resultant controller is robust to uncertainties in the impact event while maintaining maximum control authority over the impact-invariant subspace. We demonstrate the improved performance of the projection over other commonly used heuristics on a walking controller for a planar five-link-biped. The projection is also applied to jumping, box jumping, and running controllers for the compliant 3D bipedal robot, Cassie. The modification is easily applied to these various controllers and is a critical component to deploying on the physical robot. Code and video of the experiments are available at\n                    <jats:ext-link xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" xlink:href=\"https:\/\/impact-invariant-control.github.io\/\" ext-link-type=\"uri\">https:\/\/impact-invariant-control.github.io\/<\/jats:ext-link>\n                    .\n                  <\/jats:p>","DOI":"10.1007\/s10514-025-10206-7","type":"journal-article","created":{"date-parts":[[2025,11,12]],"date-time":"2025-11-12T09:13:16Z","timestamp":1762938796000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Impact-invariant control: maximizing control authority during impacts"],"prefix":"10.1007","volume":"49","author":[{"given":"William","family":"Yang","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0599-385X","authenticated-orcid":false,"given":"Michael","family":"Posa","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2025,11,12]]},"reference":[{"issue":"3","key":"10206_CR1","doi-asserted-by":"publisher","first-page":"6471","DOI":"10.1109\/LRA.2022.3174367","volume":"7","author":"B Acosta","year":"2022","unstructured":"Acosta, B., Yang, W., & Posa, M. 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