Proprioceptive Sensor Dataset for Quadruped Robots

Geoff Fink
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...
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