dysturbance.yaml

---
user_name: "dysturbance"
scenario:
  name: 'External replicable disturbance'
  description: 'Legged robots during standing or locomotion tasks must be
    capable to react safely and reject external disturbances.
    This testbed has the purpose to fully characterize their stability and
    control behaviors against dynamic loads.
    The system applies different types of replicable disturbance actions on a
    agent.
    Capability to provide controlled pushes is required to analyze the system
    stability properties, and the control reaction.'
  image: dysturbance/scenario.png

protocol:
  - id: 39
    name: 'dysturbance_reaction_impulsive'
    name_readable: 'Reaction to Impulsive Disturbance'
    definition: 'This test characterizes the system stability when subjected to
      external impacts.
      The purpose is to define the maximum of impulsive force and energy that
      the system is capable handle without incurring in instability.
      During the tests, the pendulum falls down freely from a given height,
      corresponding to a given energy, and hits the agent.'
    image: 'dysturbance/dysturbance_impulsive.png'
    keywords: [impact, impulse, energy, resilience]
    bipedal_system: [humanoid, exoskeleton]
    pi_algo: algo_impulsive_disturbance
    duration: '1 minute / run / subject'
    controlled_variables:
      - name: Initial_energy
        definition: Pendulum initial energy
        type: scalar
        range: [0, 200]
        unit: J
      - name: Pendulum_length
        definition: Pendulum set length
        type: scalar
        range: [0.5-1-1.2]
        unit: m
      - name: Pendulum_added_mass
        definition: Pendulum additional mass
        type: scalar
        range: [1, 5]
        unit: kg
      - name: Pendulum_height
        definition: Pendulum base height
        type: scalar
        range: [1.2, 2]
        unit: m
    testbed:

      - item: Motion Capture System
        type: sensor
      - item: Treadmill
        type: actuator
        file_sheet: to enable testing during walking, not mandatory)
      - item: Instrumented actuated pendulum
        type: actuator
        file_sheet: 'testbed developed by the dysturbance consortium.
          More details on its implementation are reported in the technical
          sheets.
          https://github.com/CentroEPiaggio/dysturbance/blob/master/Documentation/Dysturbance_TestBed_Description_.pdf'
    step_description: 'The researcher should set up the structure and place the
      subject (robot) in the correct position.
      The robot should stay upright balancing within the setup.
      After that, the test can start.
      Detailed experimental steps are reported below.'
    step_list:
      - description: 'Set manually the pendulum base at the height
          Pendulum_height'
      - description: 'Set the additional mass M, and the length of the pendulum
          Pendulum_length'
      - description: 'Place the agent at the starting pose'
      - description: 'Raise the pendulum up to the angle corresponding to the
          pendulum energy Initial_energy'
      - description: 'Start data acquisition'
      - description: 'The pendulum falls and hits the agent'
      - description: 'The pendulum oscillation is damped out'
      - description: 'Stop data acquisition'
      - description: 'Repeat from 3 to 8 to collect multiple data at same
          experiment conditions (min. 10 runs)'
    has_multiple_run: true
    has_multiple_condition: true
    has_multiple_subject: false

  - id: 40
    name: 'dysturbance_reaction_sinusoidal_force'
    name_readable: 'Reaction to Sinusoidal Force Disturbance'
    definition: ' This test characterizes the system stability in the frequency
      domain.
      During the test, the system is subjected to repetitive sinusoidal force
      disturbances at a given frequency.'
    image: 'dysturbance/dysturbance_sinusoidal.png'
    keywords: [Force disturbance, Amplitude, Frequency]
    bipedal_system: [humanoid, exoskeleton]
    pi_algo: algo_sinusoidal_force_disturbance
    duration: '5 minute / run / subject'
    controlled_variables:
      - name: Force_amplitude
        definition: Pendulum force magnitude
        type: scalar
        range: [0, 600]
        unit: N
      - name: Pendulum_frequency
        definition: Pendulum oscillation frequency
        type: scalar
        range: [0, 2]
        unit: Hz
      - name: Cycles_number
        definition: Number of cycles
        type: scalar
        range: [1, 100]
        unit: N/A
      - name: Pendulum_height
        definition: Pendulum base height
        type: scalar
        range: [1.2, 2]
        unit: m
      - name: Pendulum_length
        definition: Pendulum set length
        type: scalar
        range: [0.5-1-1.2]
        unit: m
    testbed:
      - item: Motion Capture System
        type: sensor
      - item: Treadmill
        type: actuator
        file_sheet: to enable testing during walking, not mandatory)
      - item: Instrumented actuated pendulum
        type: actuator
        file_sheet: 'testbed developed by the dysturbance consortium.
          More details on its implementation are reported in the technical
          sheets.
          https://github.com/CentroEPiaggio/dysturbance/blob/master/Documentation/Dysturbance_TestBed_Description_.pdf'
    step_description: 'The researcher should set up the structure and place the
      subject (robot) in the correct position.
      The robot should stay upright balancing within the setup.
      After that, the test can start.
      Detailed experimental steps are reported below.'
    step_list:
      - description: 'Set manually the pendulum base at the height H'
      - description: 'Set the test parameters (disturb frequency and amplitude)
          and the testbed variables mass M, and the length of the pendulum L'
      - description: 'Place the agent at the starting point'
      - description: 'The pendulum reaches the contact point with the robot
          which sets the zero of the disturb'
      - description: 'Start data acquisition'
      - description: 'Start the sinusoidal disturbance'
      - description: 'Stop data acquisition when the disturbance ends or when
          interrupted by the user (robot fall)'
      - description: 'Repeat from 3 to 7 to collect multiple data at same
          experiment conditions (min. 10 times)'
    has_multiple_run: true
    has_multiple_condition: true
    has_multiple_subject: false
  - id: 41
    name: 'dysturbance_reaction_sinusoidal_disp'
    name_readable: 'Reaction to Sinusoidal displacement Disturbance'
    definition: 'This test characterizes the system stability in the frequency
      domain.
      During the test, the system is subjected to repetitive sinusoidal
      displacement disturbances at a given frequency.'
    image: 'dysturbance/dysturbance_sinusoidal.png'
    keywords: [Force disturbance, Amplitude, Frequency]
    bipedal_system: [humanoid, exoskeleton]
    pi_algo: algo_sinusoidal_displacement_disturbance
    duration: '5 minute / run / subject'
    controlled_variables:
      - name: Displacement_amplitude
        definition: Pendulum oscillation amplitude
        type: scalar
        range: [0, 30]
        unit: deg
      - name: Pendulum_frequency
        definition: Pendulum oscillation frequency
        type: scalar
        range: [0, 2]
        unit: Hz
      - name: Cycles_number
        definition: Number of cycles
        type: scalar
        range: [1, 100]
        unit: N/A
      - name: Pendulum_height
        definition: Pendulum base height
        type: scalar
        range: [1.2, 2]
        unit: m
      - name: Pendulum_length
        definition: Pendulum set length
        type: scalar
        range: [0.5-1-1.2]
        unit: m
    testbed:
      - item: Motion Capture System
        type: sensor
      - item: Treadmill
        type: actuator
        file_sheet: to enable testing during walking, not mandatory)
      - item: Instrumented actuated pendulum
        type: actuator
        file_sheet: 'testbed developed by the dysturbance consortium.
          More details on its implementation are reported in the technical
          sheets.
          https://github.com/CentroEPiaggio/dysturbance/blob/master/Documentation/Dysturbance_TestBed_Description_.pdf'
    step_description: 'The researcher should set up the structure and place the
      subject (robot) in the correct position.
      The robot should stay upright balancing within the setup.
      After that, the test can start.
      Detailed experimental steps are reported below.'
    step_list:
      - description: 'Set manually the pendulum base at the height H'
      - description: 'Set the test parameters (disturb frequency and amplitude)
          and the testbed variables additional mass M, and the length of the
          pendulum L'
      - description: 'Place the agent at the starting point'
      - description: 'The pendulum reaches the contact point with the robot
          which sets the zero of the disturb'
      - description: 'Start data acquisition'
      - description: 'Start the sinusoidal disturb'
      - description: 'Stop data acquisition when the disturb ends or when
          interrupted by the user (robot fall)'
      - description: 'Repeat from 3 to 7 to collect multiple data at same
          experiment conditions (min. 10 times)'
    has_multiple_run: true
    has_multiple_condition: true
    has_multiple_subject: false
  - id: 105
    name: 'dysturbance_reaction_quasistatic_force'
    name_readable: 'Reaction to external Quasistatic Force Disturbance'
    definition: 'This test evaluates the capability of the system to adapt
      and resist an almost constant push, and to find the maximum value of
      quasi-static load the system is capable to resist without falling.
      We provide a Time-Linear quasi-static Force/Displacement perturbation.'
    image: 'dysturbance/dysturbance_sinusoidal.png'
    keywords: [external perturbation]
    bipedal_system: [humanoid, exoskeleton]
    pi_algo: algo_quasistatic_force_disturbance
    duration: '5 minute / run / subject'
    controlled_variables:
      - name: Force_rate
        definition: Force over time rate
        type: scalar
        range: [0, 300]
        unit: N/s
      - name: Displacement_rate
        definition: Displacement over time rate
        type: scalar
        range: [0, 60]
        unit: deg/s
      - name: Pendulum_height
        definition: Pendulum base height
        type: scalar
        range: [1.2, 2]
        unit: m
      - name: Pendulum_length
        definition: Pendulum set length
        type: scalar
        range: [0.5-1-1.2]
        unit: m
    testbed:
      - item: Motion Capture System
        type: sensor
      - item: Treadmill
        type: actuator
        file_sheet: to enable testing during walking, not mandatory)
      - item: Instrumented actuated pendulum
        type: actuator
        file_sheet: 'testbed developed by the dysturbance consortium.
          More details on its implementation are reported in the technical
          sheets.
          https://github.com/CentroEPiaggio/dysturbance/blob/master/Documentation/Dysturbance_TestBed_Description_.pdf'
    step_description: 'The researcher should set up the structure and place the
      subject (robot) in the correct position.
      The robot should stay upright balancing within the setup.
      After that, the test can start.
      Detailed experimental steps are reported below.'
    step_list:
      - description: 'Set manually the pendulum base at the height H'
      - description: 'Set the additional mass M, and the length of the
          pendulum L'
      - description: 'Place the agent at the starting point'
      - description: 'The pendulum reaches the contact point with the robot
          which sets the zero of the disturb'
      - description: 'Start data acquisition'
      - description: 'Start the linear disturb'
      - description: 'Stop data acquisition when the disturb ends or when
          interrupted by the user (robot fall)'
      - description: 'Repeat from 3 to 7 to collect multiple data at same
          experiment conditions (min. 10 times)'
    has_multiple_run: true
    has_multiple_condition: false
    has_multiple_subject: false
  - id: 106
    name: 'dysturbance_reaction_quasistatic_disp'
    name_readable: 'Reaction to external Quasistatic Displacement Disturbance'
    definition: 'This test evaluates the capability of the system to adapt and
      resist an almost constant push, and to find the maximum value of
      quasi-static load the system is capable to resist without falling.
      We provide a Time-Linear quasi-static Force/Displacement perturbation.'
    image: 'dysturbance/dysturbance_sinusoidal.png'
    keywords: [external perturbation]
    bipedal_system: [humanoid, exoskeleton]
    pi_algo: algo_quasistatic_displacement_disturbance
    duration: '5 minute / run / subject'
    controlled_variables:
      - name: Force_rate
        definition: Force over time rate
        type: scalar
        range: [0, 300]
        unit: N/s
      - name: Displacement_rate
        definition: Displacement over time rate
        type: scalar
        range: [0, 60]
        unit: deg/s
      - name: Pendulum_height
        definition: Pendulum base height
        type: scalar
        range: [1.2, 2]
        unit: m
      - name: Pendulum_length
        definition: Pendulum set length
        type: scalar
        range: [0.5-1-1.2]
        unit: m
    testbed:
      - item: Motion Capture System
        type: sensor
      - item: Treadmill
        type: actuator
        file_sheet: to enable testing during walking, not mandatory)
      - item: Instrumented actuated pendulum
        type: actuator
        file_sheet: 'testbed developed by the dysturbance consortium.
          More details on its implementation are reported in the technical
          sheets.
          https://github.com/CentroEPiaggio/dysturbance/blob/master/Documentation/Dysturbance_TestBed_Description_.pdf'
    step_description: 'The researcher should set up the structure and place the
      subject (robot) in the correct position.
      The robot should stay upright balancing within the setup.
      After that, the test can start.
      Detailed experimental steps are reported below.'
    step_list:
      - description: 'Set manually the pendulum base at the height H'
      - description: 'Set the additional mass M, and the length of the
          pendulum L'
      - description: 'Place the agent at the starting point'
      - description: 'The pendulum reaches the contact point with the robot
          which sets the zero of the disturb'
      - description: 'Start data acquisition'
      - description: 'Start the linear disturb'
      - description: 'Stop data acquisition when the disturb ends or when
          interrupted by the user (robot fall)'
      - description: 'Repeat from 3 to 7 to collect multiple data at same
          experiment conditions (min. 10 times)'
    has_multiple_run: true
    has_multiple_condition: false
    has_multiple_subject: false
pi:
  - name: Fall_check
    name_readable: Fall Check
    description: It reports the state of the robot at the end of each protocol
    unit: na
    output: scalar
    intra_run aggregation: na
    inter_run_aggregation: percentage
    visu: na
    inter_cond_aggregation: na
    inter_subject_aggregation: na
  - name: Absorbed_energy
    name_readable: Absorbed energy
    description: 'The portion of the pendulum energy absorbed by the agent
      during the impact.
      This PI reflects the compliant behavior of the system.
      The more energy it is returned to the pendulum during the impact is
      proportional to the elastic reaction of the system.
      Experimentally we saw that all the energy is absorbed by the robot when
      the system fails. Vector containing the percentage of absorbed energy and
      the initial energy'
    unit: [-, Joule]
    output: vector
    intra_run aggregation: na
    inter_run_aggregation: mean
    visu: 'The results are shown in a bar plot showing the initial energy and
      the percentage of energy absorbed by the system'
    inter_cond_aggregation: 'We combined the results for runs with the same
      conditions (mean and standard deviation).
      Different conditions leads to different initial energies, so results are
      used to create a energy plot.'
    inter_subject_aggregation: na
  - name: Stability_margin
    name_readable: Stability margin
    description: 'Maximum Amplitude of the Disturbance that the agent can
      withstand without falling.
      During the runs repetition with same conditions, it is considered that the
      control fails if it happens at least 30% of the total runs.'
    unit: na
    output: vector
    intra_run aggregation: na
    inter_run_aggregation: na
    visu: 'The PI is divided in a single score, plus a bar plot showing the
      results with different conditions.'
    inter_cond_aggregation: 'The obtained scores per condition are combined
      looking at the minimum value that unstabilize the system.'
    inter_subject_aggregation: na
  - name: Equivalent_impedance
    name_readable: Equivalent impedance
    description: 'Analysis of the Equivalent impedance value of the system
      (when compared to a second order system), varying the frequencies.
      It evaluates the behavior of the system depending on the exciting
      frequency.
      The metric provides the elastic coefficient [N/m], the damping
      coefficient [Ns/m], the inertia [gk/m^2], and the frequency [Hz]'
    unit: na
    output: vector
    intra_run aggregation: mean
    inter_run_aggregation: na
    visu: 'A plot showing the variation of the impedance coefficients varying
      the frequencies'
    inter_cond_aggregation: 'The obtained score per condition are combined in
      this way --> We evaluate the impedance coefficients for each frequencies
      for the tests in which the robot does not experience a fall.
      At a given frequency, we compute the mean values of all the impedance
      coefficients found.'
    inter_subject_aggregation: na
pi_algo:
  - name: algo_impulsive_disturbance
    description: 'This algorithm analyses the data related to the Impulsive
      Disturbance protocol and provides the related PI evaluation'
    url_paper: na
    url_code: https://github.com/CentroEPiaggio/dysturbance
    docker_host: eurobenchtest/pi_dysturbance:v0.1.0
    docker_name: eurobenchtest/pi_dysturbance:v0.1.0
    pi:
      - Absorbed_energy
      - Fall_check
      - Stability_margin
    input_files:
      - platformData.csv
      - condition.yaml
      - subject_info.yaml
    input_command:
      - ''
      - platformData.csv
      - condition.yaml
      - subject_info.yaml
    language: matlab
    implemented: true
  - name: algo_sinusoidal_force_disturbance
    description: 'This algorithm analyses the data related to the Sinusoidal
      Force Disturbance protocol and provides the related PI evaluation'
    url_paper: na
    url_code: https://github.com/CentroEPiaggio/dysturbance
    docker_host: eurobenchtest/pi_dysturbance:v0.1.0
    docker_name: eurobenchtest/pi_dysturbance:v0.1.0
    pi:
      - Fall_check
      - Stability_margin
      - Equivalent_impedance
    input_files:
      - platformData.csv
      - condition.yaml
      - subject_info.yaml
    input_command:
      - ''
      - platformData.csv
      - condition.yaml
      - subject_info.yaml
    language: matlab
    implemented: true
  - name: algo_sinusoidal_displacement_disturbance
    description: 'This algorithm analyses the data related to the Sinusoidal
      displacement Disturbance protocol and provides the related PI evaluation'
    url_paper: na
    url_code: https://github.com/CentroEPiaggio/dysturbance
    docker_host: eurobenchtest/pi_dysturbance:v0.1.0
    docker_name: eurobenchtest/pi_dysturbance:v0.1.0
    pi:
      - Fall_check
      - Stability_margin
      - Equivalent_impedance
    input_files:
      - platformData.csv
      - condition.yaml
      - subject_info.yaml
    input_command:
      - ''
      - platformData.csv
      - condition.yaml
      - subject_info.yaml
    language: matlab
    implemented: true
  - name: algo_quasistatic_force_disturbance
    description: 'This algorithm analyses the data related to the quasistatic
    force disturbance protocol and provides the related PI evaluation.'
    url_paper: na
    url_code: https://github.com/CentroEPiaggio/dysturbance
    docker_host: eurobenchtest/pi_dysturbance:v0.1.0
    docker_name: eurobenchtest/pi_dysturbance:v0.1.0
    pi:
      - Fall_check
      - Stability_margin
    input_files:
      - platformData.csv
      - condition.yaml
      - subject_info.yaml
    input_command:
      - ''
      - platformData.csv
      - condition.yaml
      - subject_info.yaml
    language: matlab
    implemented: true
  - name: algo_quasistatic_displacement_disturbance
    description: 'This algorithm analyses the data related to the quasistatic
      displacement disturbance protocol and provides the related PI evaluation.'
    url_paper: na
    url_code: https://github.com/CentroEPiaggio/dysturbance
    docker_host: eurobenchtest/pi_dysturbance:v0.1.0
    docker_name: eurobenchtest/pi_dysturbance:v0.1.0
    pi:
      - Fall_check
      - Stability_margin
    input_files:
      - platformData.csv
      - condition.yaml
      - subject_info.yaml
    input_command:
      - ''
      - platformData.csv
      - condition.yaml
      - subject_info.yaml
    language: matlab
    implemented: true