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The need for a common taxonomy and benchmarks to achieve "human-like" performance in bipedal robot locomotion

Radkhah, K. and Stryk, Oskar von (2013):
The need for a common taxonomy and benchmarks to achieve "human-like" performance in bipedal robot locomotion.
In: Workshop on Benchmarking of Human-Like Robotic Locomotion, IEEE-RAS Humanoids 2013, [Online-Edition: http://www.h2rproject.eu/humanoids2013],
[Conference or Workshop Item]

Abstract

A common taxonomy for the term “human-like locomotion” is essential to enhance the progress in the field of bipedal robot locomotion. In literature widespread use of this term can be found implying that human motion is optimal and worthy of imitation. However, a common basic understanding of the fundamental principles and characteristics of human locomotion is yet to be completed. In this talk we review various interpretations of this term in the literature and elaborate briefly on the most relevant characteristics of human motion trajectories. Further, essential methods from modeling and simulation to locomotion performance evaluation are discussed. We present a possible definition for “human-like locomotion” and a general concept for a better comparability of human and robot locomotion performance. The expressed ideas are supported by interim results obtained within the BioBiped project.

Item Type: Conference or Workshop Item
Erschienen: 2013
Creators: Radkhah, K. and Stryk, Oskar von
Title: The need for a common taxonomy and benchmarks to achieve "human-like" performance in bipedal robot locomotion
Language: English
Abstract:

A common taxonomy for the term “human-like locomotion” is essential to enhance the progress in the field of bipedal robot locomotion. In literature widespread use of this term can be found implying that human motion is optimal and worthy of imitation. However, a common basic understanding of the fundamental principles and characteristics of human locomotion is yet to be completed. In this talk we review various interpretations of this term in the literature and elaborate briefly on the most relevant characteristics of human motion trajectories. Further, essential methods from modeling and simulation to locomotion performance evaluation are discussed. We present a possible definition for “human-like locomotion” and a general concept for a better comparability of human and robot locomotion performance. The expressed ideas are supported by interim results obtained within the BioBiped project.

Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Title: Workshop on Benchmarking of Human-Like Robotic Locomotion, IEEE-RAS Humanoids 2013
Date Deposited: 18 Dec 2018 11:51
Official URL: http://www.h2rproject.eu/humanoids2013
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