Proprioceptive Sensor Dataset for Quadruped Robots

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.

Dataset Files

You must be an IEEE Dataport Subscriber to access these files. Subscribe now or login.

Documentation: 
[1] Geoff Fink, "Proprioceptive Sensor Dataset for Quadruped Robots", IEEE Dataport, 2019. [Online]. Available: http://dx.doi.org/10.21227/4vxz-xw05. Accessed: Feb. 23, 2020.
@data{4vxz-xw05-19,
doi = {10.21227/4vxz-xw05},
url = {http://dx.doi.org/10.21227/4vxz-xw05},
author = {Geoff Fink },
publisher = {IEEE Dataport},
title = {Proprioceptive Sensor Dataset for Quadruped Robots},
year = {2019} }
TY - DATA
T1 - Proprioceptive Sensor Dataset for Quadruped Robots
AU - Geoff Fink
PY - 2019
PB - IEEE Dataport
UR - 10.21227/4vxz-xw05
ER -
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