Dataset for the article: Robotic Feet Modeled After Ungulates Improve Locomotion on Soft Wet Grounds

This repository contains data for three different experiments presented in the paper:

(1) moose_feet (40 files): The moose leg experiments are labeled as ax_y.nc,

where 'a' indicates attached digits and 'f' indicates free digits. The

number 'x' is either 1 (front leg) or 2 (hind leg), and the number 'y'

is an increment from 0 to 9 representing the 10 samples of each set.

(2) synthetic_feet (120 files): The synthetic feet experiments are labeled

as lw_a_y.nc, where 'lw' (Low Water content) can be replaced by 'mw'

(Medium Water content) or 'vw' (Vast Water content). The 'a' can be 'o'

(Original Go1 foot), 'r' (Rigid extended foot), 'f' (Free digits anisotropic

foot), or 'a' (Attached digits). Similar to (1), the last number is an increment from 0 to 9.

(3) Go1 (15 files): The locomotion experiments of the quadruped robot on the

track are labeled as condition_y.nc, where 'condition' is either 'hard_ground'

for experiments on hard ground, 'bioinspired_feet' for the locomotion of the

quadruped on mud using bio-inspired anisotropic feet, or 'original_feet' for

experiments where the robot used the original Go1 feet. The 'y' is an increment from 0 to 4.

The files for moose_feet and synthetic_feet contain timestamp (s), position (m), and force (N) data.

The files for Go1 contain timestamp (s), position (rad), velocity (rad/s), torque (Nm) data for all 12 motors, and the distance traveled by the robot (m).

All files can be read using xarray datasets (https://docs.xarray.dev/en/stable/generated/xarray.Dataset.html).