Jacoff, A.
, Downs, A.
, Virts, A.
and Messina, E.
(2008),
Stepfield Pallets: Repeatable Terrain for Evaluating Robot Mobility, Proceedings of the 2008 Performance Metrics for Intelligent Systems (PerMIS) Workshop, Gaithersburg, MD, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=824741
(Accessed October 10, 2025)
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Stepfield Pallets: Repeatable Terrain for Evaluating Robot Mobility
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Abstract
Stepfield pallets are a fabricated and repeatable terrain for evaluating robot mobility. They were developed to provide emergency responders and robot developers a common mobility challenge that could be easily replicated to capture statistically significant robot performance data. Stepfield pallets have provided robot mobility challenges for the international RoboCupRescue Robot League competitions since 2005 and have proliferated widely for practice and qualification. They are currently being proposed as a standard test apparatus to evaluate robot mobility. This paper describes the origin and design of stepfield pallets, and discusses their use in several proposed standard test methods for response robots.Proceedings Title
Proceedings of the 2008 Performance Metrics for Intelligent Systems (PerMIS) Workshop
Conference Dates
August 19-21, 2008
Conference Location
Gaithersburg, MD
Pub Type
Conferences
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Keywords
Stepfield, step field, robot mobility, test method, artificial rubble, RoboCupRescue
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Created December 31, 2008, Updated February 19, 2017