IMU and marker-based optical motion capture from a humanoid robot

The motion capture contains walking trials from the lower body of the humanoid robot Reem-C from Pal Robotics (Barcelona, Spain). Seven IMUs were attached on the foot, lower leg, upper leg and pelvis segments. IMU data was collected at 100 Hz. Moreover, the robot motion was captured with a marker-based optical system (Qualisys AB, Göteborg, Sweden) at 150 Hz. The focus of the dataset was mainly walking. There are three trials, each with a length of about 6.5 minutes.The dataset contains the definition of the skeleton (segment lengths and coordinate locations), the actual IMU readings and the pose or kinematics from the optical system.