Benchmarking Human Likeness of Bipedal Robot Locomotion: State of the Art and Future Trends

Diego Torricelli, Rahman S.M. Mizanoor, Vittorio Lippi, Maarten Weckx, Glenn Mathijssen, Bram Vanderborght, Thomas Mergner, Dirk Lefeber, Jose L. Pons

Research output: Chapter in Book/Report/Conference proceedingChapter

16 Scopus citations


The difficulty of defining standard benchmarks for human likeness is a well-know problem in bipedal robotics. This chapter reviews methods and criteria for the assessment of the sensorimotor mechanisms involved in human walking and posture. We focused on the potential of the reviewed methods to be used as benchmarks for human-like locomotion of bipedal robots. For walking conditions, several criteria and methods related to dynamic similarity, passivity and dynamicity, static stability, and energy consumption have been identified. As for standing functions, we identified the most relevant features characterizing the human postural sensorimotor mechanisms, and presented the experimental protocols currently used to evaluate the human-like robotic performance. Furthermore, we discussed how the current robotic competitions such as RoboCup and DARPA Robotics Challenges can contribute to the identification of relevant benchmarks. Finally, we speculated about the importance of international consensus on the quantitative definition of human likeness, and suggested some future actions for improving collaboration and standardization within the scientific community.

Original languageEnglish (US)
Title of host publicationCognitive Systems Monographs
PublisherSpringer Verlag
Number of pages20
StatePublished - 2020

Publication series

NameCognitive Systems Monographs
ISSN (Print)1867-4925
ISSN (Electronic)1867-4933

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • General Computer Science


Dive into the research topics of 'Benchmarking Human Likeness of Bipedal Robot Locomotion: State of the Art and Future Trends'. Together they form a unique fingerprint.

Cite this