论文标题
机器人姿势控制和平衡的人类风格指标
Human-Likeness Indicator for Robot Posture Control and Balance
论文作者
论文摘要
与人类类似，人形机器人需要控制姿势和平衡才能行走和与环境相互作用。在这种工作中，在扰动条件下的姿势控制被评估为人体机器人控制的性能测试。提出了一个特定的性能指标：分数基于站在运动表面上的人体摇摆与由健康受试者进行相同实验产生的摇摆的人体摇摆之间的比较。在这里，这种方法旨在评估人类的类似性。该度量是使用类人机器人测试的，以证明对拟议的评估方案的典型用法，以及如何根据这种性能指标得分来改善机器人控制的示例
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
