Benchmarking Standing Stability for Bipedal Robots
Developing robust benchmarking methods is crucial to evaluate the standing stability of bipedal systems, including humanoid robots and exoskeletons. This paper presents a standardized benchmarking procedure based on the Linear Inverted Pendulum Model and the Capture Point concept to normalize the ma...
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| Format: | Article |
| Language: | English |
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10839365/ |
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| author | Juan A. JUANCASTANO Eugenio Manuel Espuela Jaime Ramos Rojas Enrico Mingo Hoffman Chengxu Zhou |
| author_facet | Juan A. JUANCASTANO Eugenio Manuel Espuela Jaime Ramos Rojas Enrico Mingo Hoffman Chengxu Zhou |
| author_sort | Juan A. JUANCASTANO |
| collection | DOAJ |
| description | Developing robust benchmarking methods is crucial to evaluate the standing stability of bipedal systems, including humanoid robots and exoskeletons. This paper presents a standardized benchmarking procedure based on the Linear Inverted Pendulum Model and the Capture Point concept to normalize the maximum angular momentum before falling. Normalizing these variables establishes absolute and relative benchmarks achieving comprehensive comparisons across different bipedal systems. Simulations were conducted on two humanoid robots, COMAN and WALK-MAN, to validate the approach, demonstrating its applicability to various sizes and configurations of robots. Furthermore, the same benchmarking method was applied to the therapeutic exoskeleton H3, illustrating its potential to optimize mechanical design and therapeutic performance. The results indicate that this standardized procedure provides a valuable tool for assessing and improving the stability of anthropomorphic robotic systems, providing insights into both hardware capabilities and control strategies. |
| format | Article |
| id | doaj-art-6144b0640b2545b38b99c1d7f25254df |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-6144b0640b2545b38b99c1d7f25254df2025-01-25T00:02:05ZengIEEEIEEE Access2169-35362025-01-0113133001331110.1109/ACCESS.2025.352919110839365Benchmarking Standing Stability for Bipedal RobotsJuan A. JUANCASTANO0https://orcid.org/0000-0001-5704-9487Eugenio Manuel Espuela1https://orcid.org/0009-0001-0602-2257Jaime Ramos Rojas2https://orcid.org/0000-0002-2370-9640Enrico Mingo Hoffman3https://orcid.org/0000-0003-2063-7490Chengxu Zhou4https://orcid.org/0000-0002-6677-0855Department of Applied Mathematics, Science and Material Engineering, and Electronics Technologies, School of Experimental Sciences and Technology, Rey Juan Carlos University, Campus de Mostoles, Madrid, SpainDepartment of Applied Mathematics, Science and Material Engineering, and Electronics Technologies, School of Experimental Sciences and Technology, Rey Juan Carlos University, Campus de Mostoles, Madrid, SpainDepartment of Applied Mathematics, Science and Material Engineering, and Electronics Technologies, School of Experimental Sciences and Technology, Rey Juan Carlos University, Campus de Mostoles, Madrid, SpainCNRS, Inria, LORIA, Université de Lorraine, Villers-lès-Nancy, FranceDepartment of Computer Science, University College London, London, U.K.Developing robust benchmarking methods is crucial to evaluate the standing stability of bipedal systems, including humanoid robots and exoskeletons. This paper presents a standardized benchmarking procedure based on the Linear Inverted Pendulum Model and the Capture Point concept to normalize the maximum angular momentum before falling. Normalizing these variables establishes absolute and relative benchmarks achieving comprehensive comparisons across different bipedal systems. Simulations were conducted on two humanoid robots, COMAN and WALK-MAN, to validate the approach, demonstrating its applicability to various sizes and configurations of robots. Furthermore, the same benchmarking method was applied to the therapeutic exoskeleton H3, illustrating its potential to optimize mechanical design and therapeutic performance. The results indicate that this standardized procedure provides a valuable tool for assessing and improving the stability of anthropomorphic robotic systems, providing insights into both hardware capabilities and control strategies.https://ieeexplore.ieee.org/document/10839365/Benchmark testingstability criteriahumanoid robotsexoskeletons |
| spellingShingle | Juan A. JUANCASTANO Eugenio Manuel Espuela Jaime Ramos Rojas Enrico Mingo Hoffman Chengxu Zhou Benchmarking Standing Stability for Bipedal Robots IEEE Access Benchmark testing stability criteria humanoid robots exoskeletons |
| title | Benchmarking Standing Stability for Bipedal Robots |
| title_full | Benchmarking Standing Stability for Bipedal Robots |
| title_fullStr | Benchmarking Standing Stability for Bipedal Robots |
| title_full_unstemmed | Benchmarking Standing Stability for Bipedal Robots |
| title_short | Benchmarking Standing Stability for Bipedal Robots |
| title_sort | benchmarking standing stability for bipedal robots |
| topic | Benchmark testing stability criteria humanoid robots exoskeletons |
| url | https://ieeexplore.ieee.org/document/10839365/ |
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