面向不同地形的轮足机器人机载一体化测控系统数据集

本数据集包括对四足机器人地形识别任务和对轮足机器人轮底感知任务的研究中采集的数据，采用云深处绝影lite2采集了不同地形对应的imu信号，关节数据；采用安装在轮胎内壁上的压电薄膜传感器测得电信号，反应轮胎不同位置触地情况下的接触点与接触力情况。实验中采集的数据，能够为样机开展地形感知与接触检测提供部分数据支撑。This dataset comprises data collected for two research tasks: terrain recognition for quadruped robots and under-wheel perception for wheel-legged robots. IMU signals and joint data corresponding to different terrains were collected using the Jueying Lite2 robot from CloudDepth. Electrical signals were measured using piezoelectric thin-film sensors mounted on the inner wall of the tire, which reflect the contact points and contact forces when the tire contacts the ground at various positions. The data collected during these experiments can provide partial data support for prototype development of terrain perception and contact detection applications.

搜集汇总

背景与挑战

背景概述

该数据集来自国家重点研发计划项目，针对轮足机器人在不同地形下的感知任务，采集了IMU信号、关节数据以及通过轮胎内壁压电薄膜传感器测量的触地电信号。这些数据旨在为轮足机器人的地形识别和接触检测研究提供支持。