FULL-DAY WORKSHOP

Benchmarking: the next challenge in Humanoid Robotics Research

Organizers: D. Torricelli, K. Mombaur, N. Tsagarakis

When: November 15th, 2017. Full day, starting at 8:30 AM.
Where: Birmingham Repertory Theatre, Suite 3

Objectives

Achieving stable, versatile and efficient walking is one of the current challenges of humanoid research. Biologically inspiration is gaining relevance in the design of bipedal machines, due to the outstanding abilities of humans in coping with out-of-the-lab conditions, in presence of variable and unexpected perturbations. Nevertheless, the process of transferring human abilities to machines is a complex process, which involves questions from scientific and engineering perspectives, such as: “Which are the human properties that should be transferred to the humanoid? How do limitations of the current technology (e.g. actuators, number of DoF, etc..) influence this process? Can the cause-effect relationship between a given solution and the resulting performance be quantified?” Benchmarking may constitute a powerful tool for researchers and developers to answer these questions.

In the framework of five European projects (H2R, Koroibot, Walkman, Biomot and Balance) we recently developed a benchmarking framework for the evaluation of bipedal functions [1]. In past workshops, we shared this preliminary scheme with the Humanoids and related communities [3-8]. In this workshop, we will gather worldwide experts in the field of humanoid locomotion to discuss emerging methods, protocols and devices for the assessment and comparison of walking and postural robotic performance.

This WS is linked with the Frontiers Research Topic: “Assessing bipedal locomotion: towards replicable benchmarks for robotic and robot-assisted locomotion

Speakers

 

torricelli
Diego Torricelli
LAARS

Why benchmarking? Introduction and new funding opportunities

 

 

 

mombaur
Katja Mombaur
University of Heidelberg

Benchmarking bipedal locomotion for humanoid and wearable robots

 

 

 

Tsagarakis
Nikos Tsagarakis
Italian institute of Technology (IIT)

Benchmarking humanoid resistance to push disturbance

 

 

 

studley
Matthew Studley
University of the West of England

Benchmarking through competition: The European Robotics League and the SciRoc Project.

 

 

 

gerndt
Rehinard Gerndt
Ostfalia University

The RoboCup Humanoid League – Past Achievements, Current Challenges, Future Requirements

 

 

 

asfour
Tamim Asfour
Karlsruhe Institute of Technology (KIT)

Open Source Datasets and Tools for Human, Humanoid and Exoskeletons Motion Performance Evaluation

 

 

 

pandey
Amit Kumar Pandey
SoftBank Robotics

Benchmarking Human-Humanoid Social and Cognitive Interaction: some results and the grand challenges – An industrial perspective

 

 

 

mergner
Thomas Mergner
Freiburg University

Human-likeness from human experiments and human-robot comparisons

 

 

 

stasse
Olivier Stasse
LAARS

Benchmarking motion generation capabilities on the HRP-2 humanoid

 

 

 

nori
Francesco Nori
Italian institute of Technology (IIT) & DeepMind

The benchmarking of physical interaction and AnDy’s roadmap towards proficient human-robot collaboration

 

 

 

Program

Time Speaker Talk title
8:30 – 9:00 Diego Torricelli Why benchmarking? Introduction and new funding opportunities
9:00 – 9:30 Katja Mombaur Benchmarking bipedal locomotion for humanoid and wearable robots
9:30 – 10:00 Nikos Tsagarakis Benchmarking humanoid resistance to push disturbance
10:00 – 10:30 Coffee Break & Poster Session
10:30 – 11:00 Matthew Studley Benchmarking through competition : The European Robotics League and the SciRoc Project
11:00 – 11:30 Reinhard Gernt The RoboCup Humanoid League – Past Achievements, Current Challenges, Future Requirement
11:30 – 12:00 Tamim Asfour Open Source Datasets and Tools for Human, Humanoid and Exoskeletons Motion Performance Evaluation
12:30 – 13:30 Lunch Break
13:30 – 14:00 Amit Kumar Pandey Benchmarking Human-Humanoid Social and Cognitive Interaction: some results and the grand challenges – An industrial perspective
14:00 – 14:30 Thomas Mergner Human-likeness from human experiments and human-robot comparisons
14:30 – 15:00 Olivier Stasse Benchmarking motion generation capabilities on the HRP-2 humanoid
15:00 – 15:30 Coffee Break & Poster Session
15:30 – 16:00 Francesco Nori The benchmarking of physical interaction and AnDy’s roadmap towards proficient human-robot collaboration
16:00 – 17:00 All attendees Discussion in groups
17:00 – 17:30 Organizers Wrap-up & Conclusions

 

Poster Session

The following posters will be presented during the two Coffee breaks, in the REP Mezzanine area, at 10:00-10:30 and 15:00-15:30:

– M. Brandao, K. Hashimoto, A. Takanishi, LegOpt: Legged-robot posture and trajectory Optimization Benchmark
– D. M. Lofaro, P. P. Weis, E. Wiese, Experiments confirming gaze triggered effects in embodied social robots
– V. Lippi, T. Mergner, Experimental evaluation of a Bio-inspired Modular System for Posture Control
– D. M. Lofaro et al. Experimental Setup and Approach for Co-Robot Locomotion when Mechanically Coupled to a Human Partner

 

Organizers

Diego Torricelli
Spanish National Research Council (CSIC), Spain
diego.torricelli(at)csic.es

Katja Mombaur
University of Heidelberg, Germany
katja.mombaur(at)iwr.uni-heidelberg.de

Nikos Tsagarakis
Italian Institute of Technology, Italy
nikos.tsagarakis(at)iit.it

 

References

[1] D. Torricelli, J. Gonzalez-Vargas, K. Mombaur, N. Tsagarakis, J. C. Moreno, and J. L. Pons, “Benchmarking Bipedal Locomotion. A Unified Scheme for Humanoids, Wearable Robots, and Humans,” IEEE Robot. Autom. Mag., vol. 22, no. 3, pp. 103–115, 2015.

[2] Webpage on benchmarking bipedal locomotion www.benchmarkinglocomotion.org

[3] 2013 IEEE-RAS International Conference on Humanoid Robots, Workshop on “Benchmarking of human-like robotic locomotion”

[4] 2014 International workshop on wearable robots, Session on “Benchmarking, Regulatory and funding aspects of WRs”

[5] 2014 IEEE-RAS International Conference on Humanoid Robots, Workshop on “Benchmarking of bipedal locomotion”

[6] European Robotics Forum 2015, Session on “Replicable robotics research and benchmarking”

[7] International conference of Rehabilitation Robotics (ICORR 2015), Workshop “Benchmarking lower limb wearable robots: towards practical and evidence-based solutions”

[8] IEEE-RAS Humanoids 2015, Workshop “Benchmarking bipedal functions of humanoids robots: towards a unified framework”