TY - CHAP
T1 - Performance Indicators of Humanoid Posture Control and Balance Inspired by Human Experiments
AU - Lippi, Vittorio
AU - Mergner, Thomas
AU - Maurer, Christoph
AU - Seel, Thomas
N1 - Funding Information:
Acknowledgements
This work is supported by the project EUROBENCH (European Robotic Framework for Bipedal Locomotion Benchmarking, www.eurobench2020.eu ) funded by H2020 Topic ICT 27–2017 under grant agreement number 779963.
PY - 2022
Y1 - 2022
N2 - Posture control and maintaining balance are fundamental elements of humanoid robot control and have a significant impact for the performance of robots. The evaluation of robotic performance, at the state of the art, is mostly evaluated at goal level, e.g. with robot competitions. While falling is a typical reason beyond the failure of the humanoid operation, the failure itself does not provide many details about the nature of the underlying problem that can be used to improve the control. In order to provide a more specific analysis of posture control and balance, this contribution presents a set of performance indicators, i.e. indexes that can be used to compare the performance of robots with the human control systems. The inspiration for the proposed tests and indicators comes from human experiments and particular emphasis is placed on human-robot comparison.
AB - Posture control and maintaining balance are fundamental elements of humanoid robot control and have a significant impact for the performance of robots. The evaluation of robotic performance, at the state of the art, is mostly evaluated at goal level, e.g. with robot competitions. While falling is a typical reason beyond the failure of the humanoid operation, the failure itself does not provide many details about the nature of the underlying problem that can be used to improve the control. In order to provide a more specific analysis of posture control and balance, this contribution presents a set of performance indicators, i.e. indexes that can be used to compare the performance of robots with the human control systems. The inspiration for the proposed tests and indicators comes from human experiments and particular emphasis is placed on human-robot comparison.
UR - https://www.scopus.com/pages/publications/85109528526
U2 - 10.1007/978-3-030-69547-7_96
DO - 10.1007/978-3-030-69547-7_96
M3 - Contribution to book/anthology
AN - SCOPUS:85109528526
T3 - Biosystems and Biorobotics
SP - 597
EP - 601
BT - Biosystems and Biorobotics
PB - Springer Science and Business Media Deutschland GmbH
ER -