Evaluating Robot Posture Control and Balance by Comparison to Human Subjects using Human Likeness Measures

Lippi Vittorio, Christoph Maurer, Thomas Mergner

2021

Abstract

Posture control and balance are basic requirements for a humanoid robot performing motor tasks like walking and interacting with the environment. For this reason, posture control is one of the elements taken into account when evaluating the performance of humanoids. In this work, we describe and analyze a performance indicator based on the comparison between the body sway of a robot standing on a moving surface and the one of healthy subjects performing the same experiment. This approach is here oriented to the evaluation of human likeness. The measure is tested with three human-inspired humanoid posture control systems, the independent channel (IC), the disturbance identification and compensation (DEC), and the eigenmovement (EM) control. The potential and the limitations connected with such human-inspired humanoid control mechanisms are then discussed.

Paper Citation

in Harvard Style

Vittorio L., Maurer C. and Mergner T. (2021). Evaluating Robot Posture Control and Balance by Comparison to Human Subjects using Human Likeness Measures. In Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems - Volume 1: ROBOVIS, ISBN 978-989-758-537-1, pages 77-85. DOI: 10.5220/0010646900003061

in Bibtex Style

@conference{robovis21,
author={Lippi Vittorio and Christoph Maurer and Thomas Mergner},
title={Evaluating Robot Posture Control and Balance by Comparison to Human Subjects using Human Likeness Measures},
booktitle={Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems - Volume 1: ROBOVIS,},
year={2021},
pages={77-85},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010646900003061},
isbn={978-989-758-537-1},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems - Volume 1: ROBOVIS,
TI - Evaluating Robot Posture Control and Balance by Comparison to Human Subjects using Human Likeness Measures
SN - 978-989-758-537-1
AU - Vittorio L.
AU - Maurer C.
AU - Mergner T.
PY - 2021
SP - 77
EP - 85
DO - 10.5220/0010646900003061