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Posture control and balance are basic requirements for a humanoid robotperforming motor tasks like walking and interacting with the environment. Forthis reason, posture control is one of the elements taken into account whenevaluating the performance of humanoids. In this work, we describe and analyzea performance indicator based on the comparison between the body sway of arobot standing on a moving surface and the one of healthy subjects performingthe same experiment. This approach is here oriented to the evaluation of humanlikeness. The measure is tested with three human-inspired humanoid posturecontrol systems, the independent channel (IC), the disturbance identificationand compensation (DEC), and the eigenmovement (EM) control. The potential andthe limitations connected with such human-inspired humanoid control mechanismsare then discussed.

Evaluating Robot Posture Control and Balance by Comparison to Human Subjects using Human Likeness Measures