A Reproducible Benchmarking Methodology to Assess Robotic Locomotion Over Irregular Terrains: A Practical and Scalable Approach

Demonstrating robust and reliable locomotion in real-world environments is essential for validating the performance and safety of legged robots. However, the absence of standardized evaluation frameworks makes it difficult to objectively assess and compare robotic systems under realistic conditions. To address this gap, we propose a comprehensive benchmarking methodology specifically designed for evaluating legged locomotion over irregular and sloped terrains. The framework comprises a modular and easily replicable testbed, a standardized experimental protocol, and a set of performance indicators (PIs) that capture key locomotion metrics such as stability, efficiency, and trajectory accuracy. To demonstrate the utility and applicability of the proposed methodology, we present a case study using the quadruped robot ANYmal-C. We benchmarked its locomotion performance across three different ground materials—flat wood, artificial grass, and TerraSensa—at slope inclinations ranging from 0° to 15°, under two controller configurations (Trekker and Dynamic Gait) and two commanded speeds (0.3 m/s and 0.8 m/s). The results consistently highlight the superior performance of the Trekker controller across all test conditions. Additionally, ground inclination emerged as a more influential factor than surface material, significantly affecting parameters such as slippage and cost of transport (CoT). Higher commanded speeds were also found to enhance locomotion performance under all evaluated scenarios. This work represents a first step toward establishing reproducible and systematic benchmarking practices for legged robotics, offering a practical and scalable approach to performance evaluation in controlled yet realistic environments.