Table 1 The different tasks included in each circuit

1

Wide corridor (2,5 m)

Forward

Wide turn

U-turn on site

Reverse

2

Fixed obstacle on the ground to be circumvented

Low slope (5°) to go down and up

Wide corridor / wide doorway

Fixed obstacle on the ground to cross

Low and moderate slope (5° and 10°) to go down and up

3

Fixed obstacle in height

Emergency stop

Stop with precision

Walk along a wall

Narrow corridor (1.5 m)

Table: setting up

Double stain

Elevator simulation: forward entry and reverse exit

Restricted space

Moving obstacle to bypass