Details
| Original language | English |
|---|---|
| Title of host publication | 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids) |
| Pages | 630-635 |
| Number of pages | 6 |
| ISBN (electronic) | 978-1-5386-7630-1 |
| Publication status | Published - Oct 2019 |
| Externally published | Yes |
Publication series
| Name | IEEE-RAS International Conference on Humanoid Robots |
|---|---|
| Volume | 2019-October |
| ISSN (Print) | 2164-0572 |
| ISSN (electronic) | 2164-0580 |
Abstract
This work presents a system to benchmark humanoid posture control and balance performances under perturbed conditions. The specific benchmarking scenario consists, for example, of balancing upright stance while performing voluntary movements on moving surfaces. The system includes a motion platform used to provide the perturbation, an innovative body-Tracking system suitable for robots, humans and exoskeletons, control software and a set of predefined perturbations, a humanoid robot used to test algorithms, and analysis software providing state of the art data analysis used to provide quantitative measures of performance. In order to provide versatility, the design of the system is oriented to modularity: All its components can be replaced or extended according to experimental needs, adding additional perturbation profiles, new evaluation principles, and alternative tracking systems. It will be possible to use the system with different kinds of robots and exoskeletons as well as for human experiments aimed at gaining insights into human balance capabilities.
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2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids). 2019. p. 630-635 9035081 (IEEE-RAS International Conference on Humanoid Robots; Vol. 2019-October).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - COMTEST Project
T2 - A Complete Modular Test Stand for Human and Humanoid Posture Control and Balance
AU - Lippi, Vittorio
AU - Mergner, Thomas
AU - Seel, Thomas
AU - Maurer, Christoph
N1 - Funding Information: The COMTEST project is being developed as a subproject of the EUROBENCH H2020 European project (eurobench2020.eu).
PY - 2019/10
Y1 - 2019/10
N2 - This work presents a system to benchmark humanoid posture control and balance performances under perturbed conditions. The specific benchmarking scenario consists, for example, of balancing upright stance while performing voluntary movements on moving surfaces. The system includes a motion platform used to provide the perturbation, an innovative body-Tracking system suitable for robots, humans and exoskeletons, control software and a set of predefined perturbations, a humanoid robot used to test algorithms, and analysis software providing state of the art data analysis used to provide quantitative measures of performance. In order to provide versatility, the design of the system is oriented to modularity: All its components can be replaced or extended according to experimental needs, adding additional perturbation profiles, new evaluation principles, and alternative tracking systems. It will be possible to use the system with different kinds of robots and exoskeletons as well as for human experiments aimed at gaining insights into human balance capabilities.
AB - This work presents a system to benchmark humanoid posture control and balance performances under perturbed conditions. The specific benchmarking scenario consists, for example, of balancing upright stance while performing voluntary movements on moving surfaces. The system includes a motion platform used to provide the perturbation, an innovative body-Tracking system suitable for robots, humans and exoskeletons, control software and a set of predefined perturbations, a humanoid robot used to test algorithms, and analysis software providing state of the art data analysis used to provide quantitative measures of performance. In order to provide versatility, the design of the system is oriented to modularity: All its components can be replaced or extended according to experimental needs, adding additional perturbation profiles, new evaluation principles, and alternative tracking systems. It will be possible to use the system with different kinds of robots and exoskeletons as well as for human experiments aimed at gaining insights into human balance capabilities.
UR - http://www.scopus.com/inward/record.url?scp=85082681035&partnerID=8YFLogxK
U2 - 10.48550/arXiv.2104.11935
DO - 10.48550/arXiv.2104.11935
M3 - Conference contribution
SN - 978-1-5386-7631-8
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 630
EP - 635
BT - 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)
ER -