AndyData-lab-prescientTeleopICub

This dataset contains the reference trajectoires for the humanoid robot iCub, teleoperated by a human operator.<br> The operator controlled the robot while performing different tasks: reaching a low/mid-height target with the right hand, reaching a high target with the right hand, picking up a box located at different locations and placing the box at different locations.<br> The operator's whole-body kinematics was recorded with inertial motion capture systems and retargeted on the robot.<br> All data files are in csv format. Training and test data were used to learn movement primitives for the whole-body trajectories and were acquired when teleoperating the robot in a local network with ideally no delay.<br> A detailed description of how the data were collected and/or generated is available in the paper associated with the dataset: "Prescient teleoperation of humanoid robots" (Penco et al., hal preprint) https://hal.archives-ouvertes.fr/hal-?/document