Quadrupedal Robot Forward Locomotion
收藏arXiv2025-09-30 收录
下载链接：
https://github.com/bulletphysics/bullet3/blob/004dcc34041d1e5a5d92f747296b0986922ebb96/examples/pybullet/gym/pybullet_envs/minitaur
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资源简介：
该数据集通过物理引擎模拟，涉及四足机器人前进运动的研究。状态变量包括位置、翻滚角、俯仰角和速度等因素，而动作空间则由施加在机器人腿部上的扭矩值组成。该数据集的状态向量维度为28维，动作向量维度为8维，分别代表机器人腿部上的扭矩。该数据集涵盖了多种不同条件下多个回合的模拟，研究任务主要针对四足机器人的前进运动。
This dataset is generated via physics engine simulation, focusing on the research of quadruped robot forward locomotion. The state variables include factors such as position, roll angle, pitch angle, and velocity, while the action space consists of torque values applied to the robot's legs. The state vector of this dataset has a dimension of 28, while the action vector has a dimension of 8, with each dimension corresponding to the torque on one of the robot's legs. This dataset covers multiple episodes of simulations under various conditions, and the research task primarily targets the forward locomotion of quadruped robots.
提供机构：
PyBullet
