This dataset includes time-series motion data of a hexapod walked by CPGs.

Each trajectory has 500 steps of 18-dimensional observed joint angles and 18 reference joint angles as state; and six commands to CPGs as action.

150 trajectories for training, 25 trajectories for validation, and 25 trajectories for test are seperately summarized in the respective files.

Dataset Files

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[1] Taisuke Kobayashi, "Hexapod locomotion with CPG", IEEE Dataport, 2021. [Online]. Available: http://dx.doi.org/10.21227/99af-jw71. Accessed: Oct. 24, 2021.
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doi = {10.21227/99af-jw71},
url = {http://dx.doi.org/10.21227/99af-jw71},
author = {Taisuke Kobayashi },
publisher = {IEEE Dataport},
title = {Hexapod locomotion with CPG},
year = {2021} }
TY - DATA
T1 - Hexapod locomotion with CPG
AU - Taisuke Kobayashi
PY - 2021
PB - IEEE Dataport
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Taisuke Kobayashi. (2021). Hexapod locomotion with CPG. IEEE Dataport. http://dx.doi.org/10.21227/99af-jw71
Taisuke Kobayashi, 2021. Hexapod locomotion with CPG. Available at: http://dx.doi.org/10.21227/99af-jw71.
Taisuke Kobayashi. (2021). "Hexapod locomotion with CPG." Web.
1. Taisuke Kobayashi. Hexapod locomotion with CPG [Internet]. IEEE Dataport; 2021. Available from : http://dx.doi.org/10.21227/99af-jw71
Taisuke Kobayashi. "Hexapod locomotion with CPG." doi: 10.21227/99af-jw71