QCAT legged robot terrain classification dataset

The dataset includes measurements from two different sensor types on the quadruped robot DyRET. A 3-axis force sensor is mounted on the end of each of the four legs (Optoforce OMD-20-SH-80N), referred to as 'raw' in the dataset. The robot also has an Inertial Measurement Unit (IMU) mounted (Xsens MTI-30). It contains a 3-axis gyroscope providing rotational velocities, a 3-axis accelerometer providing linear accelerations, and a 3-axis magnetometer providing absolute orientation in reference to the Earth's magnetic field. The data is labeled 'imu' in the dataset. The robot walks forward on 6 different surfaces, available in the 'surface' column (0: Concrete, 1: Grass, 2: Gravel, 3: Mulch, 4: Dirt, 5: Sand). It does so at 6 different speeds, available in the 'speed' column (0-1: frequency 0.125 Hz; 1-2: frequency 0.1875 Hz; 3-4: frequency 0.25 Hz; 0,2,4: step length 80 mm; 1,3,5: step length 120 mm). There are 10 trials in each file (available in the 'eval_id' column) with 8 steps for each trial. This gives a total of 6*10*6*8 = 2880 steps in total. The jupyter notebook source code used for processing the force sensor data and IMU data is provided.