Developing robust benchmarking methods is crucial for evaluating the standing stability of
bipedal systems, including humanoid robots and exoskeletons. This paper presents a standardized benchmarking
procedure based on the Linear Inverted Pendulum Model and the Capture Point concept to normalize
the maximum angular momentum before falling. Normalizing these variables establishes absolute and relative
benchmarks achieving comprehensive comparisons across different bipedal systems. Simulations were
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