A Method to Benchmark the Resilience of Robot Balance
This framework aims to assess the balancing performance of self-stabilizing robots under external perturbations.
The method involves five different experimental protocols:
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Protocol I: Impulsive Loads;
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Protocol II: Repetitive CoM displacement Perturbations;
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Protocol III: Sinusoidal Force Loads;
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Protocol IV: Quasi-Static CoM displacement Perturbations;
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Protocol V: Quasi-Static Force Loads;
The framework includes five protocols that provide the Performance Indicators of robot balancing skills, one testbench to perform the experiments, and software to command the testbed and execute post-processing analysis of data.
Acknowledgements:
Simone Monteleone
Francesca Negrello
Mattia Poggiani
Giorgio Grioli
Manolo Garabini
Antonio Bicchi
Manuel Catalano
Affiliations:
1-Istituto Italiano di Tecnologia (IIT)
2-Univ. di Pisa - Centro E. Piaggio
License:
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Test-bench CAD Model
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License cc-by-nc-sa