Planetary Soil Impact Dataset (PALPATE) - Dataset

The Planetary Soil Impact Dataset (PALPATE) is a dataset recorded to demonstrate the applicability of machine learning methods to classify the complex feet-soil interaction on fine-grained soils. The dataset consists of 2600 feet-soil impacts, which were automatically executed and recorded with a specially designed testbed. Impacts were performed on a variety of Martian soil simulants, such as ES-1, ES-2, ES-3 and other. The dataset includes the sensor signals acquired by two different feet and sensors on the testbed. Additionally, a small dataset with 240 impacts created by the quadruped robot ANYmal is included.