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

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

17 Citations (Scopus)

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 - Third International Conference, Living Machines 2014, Proceedings
Number of pages	12
Publisher	Physica-Verlag
Publication date	1 Jan 2014
Pages	320-331
ISBN (Print)	9783319094342
DOIs	https://doi.org/10.1007/978-3-319-09435-9_28
Publication status	Published - 1 Jan 2014
Externally published	Yes
Event	3rd International Conference on Biomimetic and Biohybrid Systems, Living Machines 2014 - Milan, Italy Duration: 30 Jul 2014 → 1 Aug 2014

Conference

Conference	3rd International Conference on Biomimetic and Biohybrid Systems, Living Machines 2014
Country/Territory	Italy
City	Milan
Period	30/07/2014 → 01/08/2014
Sponsor	and Neurotechnology (CSN II), Avancats (ICREA), Institucio Catalana de Recerca i Estudis, The Convergence ScienceNetwork for Biomimetics, University of Sheffield, Pompeu Fabra University

Series	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	8608 LNAI
ISSN	0302-9743

Keywords

Benchmarking
bipedal robots
human likeness
posture
standing
walking

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

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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 Biomimetic and Biohybrid Systems - Third International Conference, Living Machines 2014, Proceedings (pp. 320-331). Physica-Verlag. 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. Physica-Verlag, 2014. pp. 320-331 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Vol. 8608 LNAI).

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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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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 Biomimetic and Biohybrid Systems - Third International Conference, Living Machines 2014, Proceedings. Physica-Verlag, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 8608 LNAI, pp. 320-331, 3rd International Conference on Biomimetic and Biohybrid Systems, Living Machines 2014, Milan, Italy, 30/07/2014. 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. Physica-Verlag, 2014. p. 320-331 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Vol. 8608 LNAI).

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

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AU - Vanderborght, Bram

AU - Dosen, Strahinja

AU - Sartori, Massimo

AU - Zhao, Jie

AU - Schüetz, Steffen

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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 Biomimetic and Biohybrid Systems - Third International Conference, Living Machines 2014, Proceedings. Physica-Verlag. 2014. p. 320-331. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Vol. 8608 LNAI). 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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