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:
Protocol I: Impulsive Loads;
Protocol II: Repetitive CoM displacement Perturbations;
Protocol III: Sinusoidal Force Loads;
Protocol IV: Quasi-Static CoM displacement Perturbations;
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.
Test-bench CAD Model