Stable and efficient walking strategies for humanoid robots usually relies on assumptions regarding terrain characteristics. If the robot is able to classify the ground type at the footstep moment, it is possible to take preventive actions to avoid falls and to reduce energy consumption. 

This dataset contains raw data from 10 inertial and torque sensors of a humanoid robot, sampled after the impact between foot and ground. There are two types of data: simulated using gazebo and data from a real robot.

Dataset Files

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Documentation: 
[1] Reinaldo Bianchi, Rogério Gonçalves, Murilo Venâncio, "Terrain Identification for Humanoid Robots", IEEE Dataport, 2020. [Online]. Available: http://dx.doi.org/10.21227/dw0y-y759. Accessed: Jun. 19, 2024.
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doi = {10.21227/dw0y-y759},
url = {http://dx.doi.org/10.21227/dw0y-y759},
author = {Reinaldo Bianchi; Rogério Gonçalves; Murilo Venâncio },
publisher = {IEEE Dataport},
title = {Terrain Identification for Humanoid Robots},
year = {2020} }
TY - DATA
T1 - Terrain Identification for Humanoid Robots
AU - Reinaldo Bianchi; Rogério Gonçalves; Murilo Venâncio
PY - 2020
PB - IEEE Dataport
UR - 10.21227/dw0y-y759
ER -
Reinaldo Bianchi, Rogério Gonçalves, Murilo Venâncio. (2020). Terrain Identification for Humanoid Robots. IEEE Dataport. http://dx.doi.org/10.21227/dw0y-y759
Reinaldo Bianchi, Rogério Gonçalves, Murilo Venâncio, 2020. Terrain Identification for Humanoid Robots. Available at: http://dx.doi.org/10.21227/dw0y-y759.
Reinaldo Bianchi, Rogério Gonçalves, Murilo Venâncio. (2020). "Terrain Identification for Humanoid Robots." Web.
1. Reinaldo Bianchi, Rogério Gonçalves, Murilo Venâncio. Terrain Identification for Humanoid Robots [Internet]. IEEE Dataport; 2020. Available from : http://dx.doi.org/10.21227/dw0y-y759
Reinaldo Bianchi, Rogério Gonçalves, Murilo Venâncio. "Terrain Identification for Humanoid Robots." doi: 10.21227/dw0y-y759