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Leon@Home Testbed

Leon@Home is a Certified Testbed of the European Robotics League (ERL)

Leon@Home testbed main purpose is to benchmark service robots in a realistic home environment. Our testbed is made up by four parts: a mock-up apartment, a control zone with direct vision (glass wall) to the apartment, a small workshop and a larger development zone where researchers work.



Leon@Home Testbed is located in the second floor of the Módulo de Investigación en Cibernética (Building for Research in Cybernetics) in the Vegazana Campus of the Universidad de León (Spain).

The apartment is a single bedroom mock-up home built in a 8m x 7m space. It is divided by 60cm high walls into a Kitchen, living room, bathroom and a bedroom. This is the

Apartamento leon.jpg

The Leon@Home Testbed furniture has been choosen to test different robot abilities. For instance, kitchen cabinets have different types of handlers.


Tracking System

We offer three different motion capture systems for tracking your robots in the environment. Two of them are permanently install in the testbed area and the third one could be used under request:

  1. [KIO RTL] ground-truth system based on Ultra Wideband (UWB) technology
  2. OptiTrack - Motion Capture System (Currently deployed)
  3. VICON tracking system (on demand)


Control Area

Control area has direct vision over the apartment through a glass wall:

Control Area.jpg


Development Area

Development are can accommodate several researchers and can also be used for seminars that require on-hand practices. For instance, this area currently hosts a Baxter robot and several haptic devices.



Permanent robotic residents of the Leon@Home Testbed are:

  1. TIAGo
  2. Orbi-One
  3. Karen
  4. MYRABot
  5. Pepper
  6. Robomaster
  7. Unitree A1
  8. Summit XL
  9. Ghost V60