Standard

Benchmarking human likeness of bipedal robot locomotion: State of the art and future trends. / Torricelli, Diego; Weckx, Maarten; Lippi, Vittorio; Mathijssen, Glenn; Vanderborght, Bram; Mergner, Thomas; Lefeber, Dirk; Gonzalez, Jose; Pons, Jose Luis.

Springer COSMOS Book: Metrics of sensory motor coordination and integration in robots and animals. Vol. 36 Springer, 2019. p. 147-166.

Research output: Chapter in Book/Report/Conference proceedingChapterResearchpeer-review

Harvard

Torricelli, D, Weckx, M, Lippi, V, Mathijssen, G, Vanderborght, B, Mergner, T, Lefeber, D, Gonzalez, J & Pons, JL 2019, Benchmarking human likeness of bipedal robot locomotion: State of the art and future trends. in Springer COSMOS Book: Metrics of sensory motor coordination and integration in robots and animals. vol. 36, Springer, pp. 147-166.

APA

Torricelli, D., Weckx, M., Lippi, V., Mathijssen, G., Vanderborght, B., Mergner, T., ... Pons, J. L. (2019). Benchmarking human likeness of bipedal robot locomotion: State of the art and future trends. In Springer COSMOS Book: Metrics of sensory motor coordination and integration in robots and animals (Vol. 36, pp. 147-166). Springer.

Vancouver

Torricelli D, Weckx M, Lippi V, Mathijssen G, Vanderborght B, Mergner T et al. Benchmarking human likeness of bipedal robot locomotion: State of the art and future trends. In Springer COSMOS Book: Metrics of sensory motor coordination and integration in robots and animals. Vol. 36. Springer. 2019. p. 147-166

Author

Torricelli, Diego ; Weckx, Maarten ; Lippi, Vittorio ; Mathijssen, Glenn ; Vanderborght, Bram ; Mergner, Thomas ; Lefeber, Dirk ; Gonzalez, Jose ; Pons, Jose Luis. / Benchmarking human likeness of bipedal robot locomotion: State of the art and future trends. Springer COSMOS Book: Metrics of sensory motor coordination and integration in robots and animals. Vol. 36 Springer, 2019. pp. 147-166

BibTeX

@inbook{21cc6b28e74649c3a9b7605d2d7f2161,
title = "Benchmarking human likeness of bipedal robot locomotion: State of the art and future trends",
abstract = "The difficulty of quantitatively defining human likeness is a well-known 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 condi-tions, 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. Fur-thermore, 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 scien-tific community.",
keywords = "Benchmarking, human likeness, bipedal robot, humanoid, locomotion, standing",
author = "Diego Torricelli and Maarten Weckx and Vittorio Lippi and Glenn Mathijssen and Bram Vanderborght and Thomas Mergner and Dirk Lefeber and Jose Gonzalez and Pons, {Jose Luis}",
year = "2019",
month = "3",
day = "24",
language = "English",
isbn = "978-3-030-14126-4",
volume = "36",
pages = "147--166",
booktitle = "Springer COSMOS Book",
publisher = "Springer",

}

RIS

TY - CHAP

T1 - Benchmarking human likeness of bipedal robot locomotion: State of the art and future trends

AU - Torricelli, Diego

AU - Weckx, Maarten

AU - Lippi, Vittorio

AU - Mathijssen, Glenn

AU - Vanderborght, Bram

AU - Mergner, Thomas

AU - Lefeber, Dirk

AU - Gonzalez, Jose

AU - Pons, Jose Luis

PY - 2019/3/24

Y1 - 2019/3/24

N2 - The difficulty of quantitatively defining human likeness is a well-known 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 condi-tions, 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. Fur-thermore, 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 scien-tific community.

AB - The difficulty of quantitatively defining human likeness is a well-known 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 condi-tions, 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. Fur-thermore, 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 scien-tific community.

KW - Benchmarking

KW - human likeness

KW - bipedal robot

KW - humanoid

KW - locomotion

KW - standing

UR - https://cristest.vub.be/en/publications/benchmarking-human-likeness-of-bipedal-robot-locomotion-state-of-the-art-and-future-trends(21cc6b28-e746-49c3-a9b7-605d2d7f2161).html

M3 - Chapter

SN - 978-3-030-14126-4

SN - 978-3-030-14124-0

VL - 36

SP - 147

EP - 166

BT - Springer COSMOS Book

PB - Springer

ER -

ID: 23765179