Human-Likeness Indicator for Robot Posture Control and Balance
arXiv:2210.15478 · doi:10.1007/978-3-031-19650-8_5
Abstract
Similarly to humans, humanoid robots require posture control and balance to walk and interact with the environment. In this work posture control in perturbed conditions is evaluated as a performance test for humanoid control. A specific performance indicator is proposed: the score is based on the comparison between the body sway of the tested humanoid standing on a moving surface and the sway produced by healthy subjects performing the same experiment. This approach is here oriented to the evaluation of a human-likeness. The measure is tested using a humanoid robot in order to demonstrate a typical usage of the proposed evaluation scheme and an example of how to improve robot control on the basis of such a performance indicator score
arXiv comment16 pages, 5 Figures. arXiv admin note: substantial text overlap with arXiv:2110.14395
References in corpus (3)
- Body sway responses to pseudorandom support surface translations of vestibular loss subjects resemble those of vestibular able subjects
- Lyapunov Stability of a Nonlinear Bio-inspired System for the Control of Humanoid Balance
- COMTEST Project: A Complete Modular Test Stand for Human and Humanoid Posture Control and Balance