ロボットの姿勢制御とバランスにおける人間らしさ指標
Human-Likeness Indicator for Robot Posture Control and Balance
動く床の上でヒューマノイドロボットの姿勢制御を評価し、健常者の体の揺れと比較することで「人間らしさ」を定量化する指標を提案した。
著者: Vittorio Lippi, Christoph Maurer, Thomas Mergner
分類: cs.RO
原文アブストラクト
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
