Benchmarking Human-Like Posture and Locomotion of Humanoid Robots: A Preliminary Scheme

The difficulty in defining standard benchmarks for human likeness is a well-known problem in bipedal robotics. This paper proposes the conceptual design of a novel benchmarking scheme for bipedal robots based on existing criteria and benchmarks related to the sensorimotor mechanisms involved in human walking and posture. The proposed scheme aims to be sufficiently generic to permit its application to a wide range of bipedal platforms, and sufficiently specific to rigorously test the sensorimotor skills found in humans.