Proprioceptive Sensor Dataset for Quadruped Robots

Proprioceptive Sensor Dataset for Quadruped Robots

Citation Author(s):
Geoff
Fink
Istituto Italiano di Tecnologia (IIT)
Submitted by:
Geoff Fink
Last updated:
Mon, 12/16/2019 - 07:44
DOI:
10.21227/4vxz-xw05
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Creative Commons Attribution
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These datasets are of the hydraulically actuated robot HyQ’s proprioceptive sensors. They include absolute and relative encoders, force and torque sensors, and MEMS-based and fibre optic-based inertial measurement units (IMUs). Additionally, a motion capture system recorded the ground truth data with millimetre accuracy. In the datasets HyQ was manually controlled to trot in place or move around the laboratory. The sequence includes: forward and backwards motion, side-to-side motion, zig-zags, yaw motion, and a mix of linear and yaw motion. All of the datasets are at least five minutes long. The aim of these datasets is to test state estimation using only proprioceptive sensors.

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[1] Geoff Fink, "Proprioceptive Sensor Dataset for Quadruped Robots", IEEE Dataport, 2019. [Online]. Available: http://dx.doi.org/10.21227/4vxz-xw05. Accessed: Apr. 01, 2020.
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url = {http://dx.doi.org/10.21227/4vxz-xw05},
author = {Geoff Fink },
publisher = {IEEE Dataport},
title = {Proprioceptive Sensor Dataset for Quadruped Robots},
year = {2019} }
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T1 - Proprioceptive Sensor Dataset for Quadruped Robots
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Geoff Fink. (2019). Proprioceptive Sensor Dataset for Quadruped Robots. IEEE Dataport. http://dx.doi.org/10.21227/4vxz-xw05
Geoff Fink, 2019. Proprioceptive Sensor Dataset for Quadruped Robots. Available at: http://dx.doi.org/10.21227/4vxz-xw05.
Geoff Fink. (2019). "Proprioceptive Sensor Dataset for Quadruped Robots." Web.
1. Geoff Fink. Proprioceptive Sensor Dataset for Quadruped Robots [Internet]. IEEE Dataport; 2019. Available from : http://dx.doi.org/10.21227/4vxz-xw05
Geoff Fink. "Proprioceptive Sensor Dataset for Quadruped Robots." doi: 10.21227/4vxz-xw05