Torricelli, DiegoGonzalez-Vargas, JoseVeneman, Jan F.Mombaur, KatjaTsagarakis, Nikosdel-Ama, Antonio J.Gil-Agudo, AngelMoreno, Juan C.Pons, Jose L.2015-09-10Torricelli , D , Gonzalez-Vargas , J , Veneman , J F , Mombaur , K , Tsagarakis , N , del-Ama , A J , Gil-Agudo , A , Moreno , J C & Pons , J L 2015 , ' Benchmarking Bipedal Locomotion: A Unified Scheme for Humanoids, Wearable Robots, and Humans : A Unified Scheme for Humanoids, Wearable Robots, and Humans ' , unknown , vol. unknown , no. 3 , 7254255 , pp. 103-115 . https://doi.org/10.1109/MRA.2015.2448278researchoutputwizard: 11556/54Publisher Copyright: © 2015 IEEE.In the field of robotics, there is a growing awareness of the importance of benchmarking [1], [2]. Benchmarking not only allows the assessment and comparison of the performance of different technologies but also defines and supports the standardization and regulation processes during their introduction to the market. Its importance has been recently emphasized by the adoption of the technology readiness levels (TRLs) in the Horizon 2020 information and communication technologies by the European Union as an important guideline to assess when a technology can shift from one TRL to the other. The objective of this article is to define the basis of a benchmarking scheme for the assessment of bipedal locomotion that could be applied and shared across different research communities.133221451enginfo:eu-repo/semantics/openAccessjournal article10.1109/MRA.2015.2448278AutomationBenchmark testingLegged locomotionWearable robotsRobot sensing systemsAutomationBenchmark testingLegged locomotionWearable robotsRobot sensing systemsControl and Systems EngineeringComputer Science ApplicationsElectrical and Electronic EngineeringProject IDinfo:eu-repo/grantAgreement/EC/FP7/601003/EU/Balance Augmentation in Locomotion, through Anticipative, Natural and Cooperative control of Exoskeletons/BALANCEinfo:eu-repo/grantAgreement/EC/FP7/601003/EU/Balance Augmentation in Locomotion, through Anticipative, Natural and Cooperative control of Exoskeletons/BALANCEFunding InfoEuropean Commission Seventh Framework Program, and COSTEuropean Commission Seventh Framework Program, and COSThttp://www.scopus.com/inward/record.url?scp=84941890582&partnerID=8YFLogxK