COMTEST Project: A Complete Modular Test Stand for Human and Humanoid Posture Control and Balance
Lippi V, Mergner T, Seel T, Maurer C (2019)
Publication Type: Conference contribution
Publication year: 2019
Publisher: IEEE Computer Society
Book Volume: 2019-October
Pages Range: 630-635
Conference Proceedings Title: IEEE-RAS International Conference on Humanoid Robots
Event location: Toronto, ON
ISBN: 9781538676301
DOI: 10.1109/Humanoids43949.2019.9035081
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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Involved external institutions
Germany (DE)How to cite
APA:
Lippi, V., Mergner, T., Seel, T., & Maurer, C. (2019). COMTEST Project: A Complete Modular Test Stand for Human and Humanoid Posture Control and Balance. In IEEE-RAS International Conference on Humanoid Robots (pp. 630-635). Toronto, ON, CA: IEEE Computer Society.
MLA:
Lippi, Vittorio, et al. "COMTEST Project: A Complete Modular Test Stand for Human and Humanoid Posture Control and Balance." Proceedings of the 19th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2019, Toronto, ON IEEE Computer Society, 2019. 630-635.
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