Benchmarking human-like posture and locomotion of humanoid robots: A preliminary scheme

Diego Torricelli; Rahman S.M. Mizanoor; Jose Gonzalez; Vittorio Lippi; Georg Hettich; Lorenz Asslaender; Maarten Weckx; Bram Vanderborght; Strahinja Dosen; Massimo Sartori; Jie Zhao; Steffen Schüetz; Qi Liu; Thomas Mergner; Dirk Lefeber; Dario Farina; Karsten Berns; Jose Louis Pons

doi:10.1007/978-3-319-09435-9_28

Benchmarking human-like posture and locomotion of humanoid robots: A preliminary scheme

Diego Torricelli, Rahman S.M. Mizanoor, Jose Gonzalez, Vittorio Lippi, Georg Hettich, Lorenz Asslaender, Maarten Weckx, Bram Vanderborght, Strahinja Dosen, Massimo Sartori, Jie Zhao, Steffen Schüetz, Qi Liu, Thomas Mergner, Dirk Lefeber, Dario Farina, Karsten Berns, Jose Louis Pons

Faculty of Engineering Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

19 Citations (Scopus)

12 Downloads (Pure)

Abstract

The difficulty in defining standard benchmarks for human likeness is a well-known problem in bipedal robotics. This paper proposes the conceptual design of a novel benchmarking scheme for bipedal robots based on existing criteria and benchmarks related to the sensorimotor mechanisms involved in human walking and posture. The proposed scheme aims to be sufficiently generic to permit its application to a wide range of bipedal platforms, and sufficiently specific to rigorously test the sensorimotor skills found in humans. The achievement of global consensus on the definition of human likeness has a crucial importance not only in the field of humanoid robotics, but also in neuroscience and clinical settings. The EU project H2R is specifically dealing with this problem. A preliminary solution is here given to encourage the international discussion on this topic within the scientific community.

Original language	English
Title of host publication	Biomimetic and Biohybrid Systems
Subtitle of host publication	Third International Conference, Living Machines 2014, Proceedings
Editors	Armin Duff, Nathan F. Lepora, Anna Mura, Tony J. Prescott, Paul F.M.J. Verschure
Publisher	Springer
Pages	320-331
Number of pages	12
ISBN (Electronic)	978-3-319-09435-9
ISBN (Print)	9783319094342
DOIs	https://doi.org/10.1007/978-3-319-09435-9_28
Publication status	Published - 2014
Event	3rd International Conference on Biomimetic and Biohybrid Systems, Living Machines 2014 - Milan, Italy Duration: 30 Jul 2014 → 1 Aug 2014 Conference number: 3 http://csnetwork.eu/livingmachines/conf2014

Publication series

Name	Lecture Notes in Computer Science
Publisher	Springer
Volume	8608
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Name	Lecture Notes in Artificial Intelligence
Publisher	Springer

Conference

Conference	3rd International Conference on Biomimetic and Biohybrid Systems, Living Machines 2014
Abbreviated title	Living Machines 2014
Country/Territory	Italy
City	Milan
Period	30/07/14 → 1/08/14
Internet address	http://csnetwork.eu/livingmachines/conf2014

Keywords

Benchmarking
Bipedal robots
Human likeness
Posture
Standing
Walking

Access to Document

10.1007/978-3-319-09435-9_28

Cite this

Torricelli, D., Mizanoor, R. S. M., Gonzalez, J., Lippi, V., Hettich, G., Asslaender, L., Weckx, M., Vanderborght, B., Dosen, S., Sartori, M., Zhao, J., Schüetz, S., Liu, Q., Mergner, T., Lefeber, D., Farina, D., Berns, K., & Pons, J. L. (2014). Benchmarking human-like posture and locomotion of humanoid robots: A preliminary scheme. In A. Duff, N. F. Lepora, A. Mura, T. J. Prescott, & P. F. M. J. Verschure (Eds.), Biomimetic and Biohybrid Systems: Third International Conference, Living Machines 2014, Proceedings (pp. 320-331). (Lecture Notes in Computer Science; Vol. 8608 ), (Lecture Notes in Artificial Intelligence). Springer. https://doi.org/10.1007/978-3-319-09435-9_28

Torricelli, Diego ; Mizanoor, Rahman S.M. ; Gonzalez, Jose et al. / Benchmarking human-like posture and locomotion of humanoid robots : A preliminary scheme. Biomimetic and Biohybrid Systems: Third International Conference, Living Machines 2014, Proceedings. editor / Armin Duff ; Nathan F. Lepora ; Anna Mura ; Tony J. Prescott ; Paul F.M.J. Verschure. Springer, 2014. pp. 320-331 (Lecture Notes in Computer Science). (Lecture Notes in Artificial Intelligence).

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abstract = "The difficulty in defining standard benchmarks for human likeness is a well-known problem in bipedal robotics. This paper proposes the conceptual design of a novel benchmarking scheme for bipedal robots based on existing criteria and benchmarks related to the sensorimotor mechanisms involved in human walking and posture. The proposed scheme aims to be sufficiently generic to permit its application to a wide range of bipedal platforms, and sufficiently specific to rigorously test the sensorimotor skills found in humans. The achievement of global consensus on the definition of human likeness has a crucial importance not only in the field of humanoid robotics, but also in neuroscience and clinical settings. The EU project H2R is specifically dealing with this problem. A preliminary solution is here given to encourage the international discussion on this topic within the scientific community.",

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author = "Diego Torricelli and Mizanoor, {Rahman S.M.} and Jose Gonzalez and Vittorio Lippi and Georg Hettich and Lorenz Asslaender and Maarten Weckx and Bram Vanderborght and Strahinja Dosen and Massimo Sartori and Jie Zhao and Steffen Sch{\"u}etz and Qi Liu and Thomas Mergner and Dirk Lefeber and Dario Farina and Karsten Berns and Pons, {Jose Louis}",

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booktitle = "Biomimetic and Biohybrid Systems",

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Torricelli, D, Mizanoor, RSM, Gonzalez, J, Lippi, V, Hettich, G, Asslaender, L, Weckx, M, Vanderborght, B, Dosen, S, Sartori, M, Zhao, J, Schüetz, S, Liu, Q, Mergner, T, Lefeber, D, Farina, D, Berns, K & Pons, JL 2014, Benchmarking human-like posture and locomotion of humanoid robots: A preliminary scheme. in A Duff, NF Lepora, A Mura, TJ Prescott & PFMJ Verschure (eds), Biomimetic and Biohybrid Systems: Third International Conference, Living Machines 2014, Proceedings. Lecture Notes in Computer Science, vol. 8608 , Lecture Notes in Artificial Intelligence, Springer, pp. 320-331, 3rd International Conference on Biomimetic and Biohybrid Systems, Living Machines 2014, Milan, Italy, 30/07/14. https://doi.org/10.1007/978-3-319-09435-9_28

Benchmarking human-like posture and locomotion of humanoid robots: A preliminary scheme. / Torricelli, Diego; Mizanoor, Rahman S.M.; Gonzalez, Jose et al.
Biomimetic and Biohybrid Systems: Third International Conference, Living Machines 2014, Proceedings. ed. / Armin Duff; Nathan F. Lepora; Anna Mura; Tony J. Prescott; Paul F.M.J. Verschure. Springer, 2014. p. 320-331 (Lecture Notes in Computer Science; Vol. 8608 ), (Lecture Notes in Artificial Intelligence).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Asslaender, Lorenz

AU - Weckx, Maarten

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AU - Dosen, Strahinja

AU - Sartori, Massimo

AU - Zhao, Jie

AU - Schüetz, Steffen

AU - Liu, Qi

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AB - The difficulty in defining standard benchmarks for human likeness is a well-known problem in bipedal robotics. This paper proposes the conceptual design of a novel benchmarking scheme for bipedal robots based on existing criteria and benchmarks related to the sensorimotor mechanisms involved in human walking and posture. The proposed scheme aims to be sufficiently generic to permit its application to a wide range of bipedal platforms, and sufficiently specific to rigorously test the sensorimotor skills found in humans. The achievement of global consensus on the definition of human likeness has a crucial importance not only in the field of humanoid robotics, but also in neuroscience and clinical settings. The EU project H2R is specifically dealing with this problem. A preliminary solution is here given to encourage the international discussion on this topic within the scientific community.

KW - Benchmarking

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A2 - Lepora, Nathan F.

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Torricelli D, Mizanoor RSM, Gonzalez J, Lippi V, Hettich G, Asslaender L et al. Benchmarking human-like posture and locomotion of humanoid robots: A preliminary scheme. In Duff A, Lepora NF, Mura A, Prescott TJ, Verschure PFMJ, editors, Biomimetic and Biohybrid Systems: Third International Conference, Living Machines 2014, Proceedings. Springer. 2014. p. 320-331. (Lecture Notes in Computer Science). (Lecture Notes in Artificial Intelligence). doi: 10.1007/978-3-319-09435-9_28

Benchmarking human-like posture and locomotion of humanoid robots: A preliminary scheme

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