English   español  
Please use this identifier to cite or link to this item: http://hdl.handle.net/10261/213968
logo share SHARE   Add this article to your Mendeley library MendeleyBASE

Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL | DATACITE
Exportar a otros formatos:


Benchmarking Human Likeness of Bipedal Robot Locomotion: State of the Art and Future Trends

AuthorsTorricelli, Diego; Mizanoor, Rahman S. M.; Lippi, Vittorio; Weckx, M.; Mathijssen, Glenn; Vanderborght, B.; Mergner, Thomas; Lefeber, Dirk; Pons Rovira, José Luis
Human likeness
Bipedal robot
Issue Date2019
CitationMetrics of Sensory Motor Coordination and Integration in Robots and Animals: 147- 166 (2019)
AbstractThe difficulty of defining standard benchmarks for human likeness is a well-know problem in bipedal robotics. This chapter reviews methods and criteria for the assessment of the sensorimotor mechanisms involved in human walking and posture. We focused on the potential of the reviewed methods to be used as benchmarks for human-like locomotion of bipedal robots. For walking conditions, several criteria and methods related to dynamic similarity, passivity and dynamicity, static stability, and energy consumption have been identified. As for standing functions, we identified the most relevant features characterizing the human postural sensorimotor mechanisms, and presented the experimental protocols currently used to evaluate the human-like robotic performance. Furthermore, we discussed how the current robotic competitions such as RoboCup and DARPA Robotics Challenges can contribute to the identification of relevant benchmarks. Finally, we speculated about the importance of international consensus on the quantitative definition of human likeness, and suggested some future actions for improving collaboration and standardization within the scientific community.
Publisher version (URL)http://dx.doi.org/10.1007/978-3-030-14126-4
Identifiersdoi: 10.1007/978-3-030-14126-4
Appears in Collections:(IC) Libros y partes de libros
Files in This Item:
File Description SizeFormat 
accesoRestringido.pdf15,38 kBAdobe PDFThumbnail
Show full item record
Review this work

WARNING: Items in Digital.CSIC are protected by copyright, with all rights reserved, unless otherwise indicated.