Robotic Neck Motion Video Dataset

Preview

Access a sample playlist of videos here: https://www.youtube.com/watch?v=_wOgNZWWoEE&list=PLrP4k_0quIDOl6A6J49_GtRlZbLaV964v&index=1

Description

This dataset contains 84 video recordings of a robotic head and neck mounted on a UR3 manipulator performing controlled neck movements. The dataset was developed to investigate the relationship between neck kinematics and the visual information generated by robot motion during human–robot interaction.

The recordings capture three fundamental neck motion types corresponding to the primary rotational degrees of freedom of the human cervical spine:

Roll (lateral head tilt)

Pitch (head nodding)

Yaw (head shaking)

Each motion is performed under systematically varied kinematic parameters, enabling quantitative analysis of how movement amplitude, acceleration, and repetition influence the visual salience and information content of robotic neck behaviour.

Dataset Composition

The dataset consists of videos generated from combinations of:

Parameter
Values

Motion axis
Roll, Pitch, Yaw

Angular displacement
5°, 10°

Acceleration
0.5, 2.0 m/s²

Repetition frequency
1, 2, 3 repetitions

All videos were recorded using a fixed camera positioned in front of the robotic head under consistent experimental conditions. 

There are two versions of the dataset available: a compressed (207MB) and a non-compressed (3.52 GB) dataset. 

File Naming Convention

Each video file follows the format:

(motion_axis)_(angle)_(acceleration)_(frequency).mp4

Examples:

roll_10_2.0_3.mp4
pitch_5_0.5_1.mp4
yaw_10_0.5_2.mp4

where:

motion_axis ∈ {roll, pitch, yaw}

angle ∈ {5, 10} degrees

acceleration ∈ {0.5, 2.0} m/s²

frequency ∈ {1, 2, 3}

For example, the file

roll_10_2.0_3.mp4

contains a roll motion with a maximum angular displacement of 10°, executed with an acceleration of 2.0 m/s² and repeated three times.

Visual Information Analysis

The dataset was designed to support the measurement of visual information generated by robot neck movements. However it can also be used for surveys and determining future robotic designs as well. 

Applications

Potential applications of the dataset include:

Human–robot interaction research

Analysis of expressive robotic motion

Embodied information and communication studies

Motion perception and visual salience modelling

Robot behaviour generation and evaluation

Benchmarking information-theoretic measures of robot movement

Citation

If you use this dataset in your research, please cite the associated publication describing the embodied information framework and visual entropy analysis methodology. This will be acceptance upon the acceptance of the publication that carries more information regarding the dataset.

预览
可在此处访问视频示例播放列表：https://www.youtube.com/watch?v=_wOgNZWWoEE&list=PLrP4k_0quIDOl6A6J49_GtRlZbLaV964v&index=1

数据集说明
本数据集包含84段视频录像，内容为安装在UR3机械臂上的机器人头颈执行受控颈部运动的场景。本数据集旨在探究人机交互（Human–Robot Interaction）场景下，颈部运动学与机器人运动产生的视觉信息之间的关联。

录制内容涵盖三类基本颈部运动类型，分别对应人类颈椎的主要旋转自由度：
滚转（Roll，侧向头部倾斜）
俯仰（Pitch，头部点头）
偏航（Yaw，头部摇头）

每类运动均通过系统变化的运动学参数执行，可用于定量分析运动幅度、加速度及重复次数对机器人颈部运动行为的视觉显著性与信息含量的影响。

数据集构成
本数据集的视频来源于以下参数的组合：
| 参数 | 取值范围 |
|--------------|------------------------------|
| 运动轴 | 滚转（Roll）、俯仰（Pitch）、偏航（Yaw） |
| 角位移 | 5°、10° |
| 加速度 | 0.5、2.0 m/s² |
| 重复次数 | 1、2、3 次 |

所有视频均在一致的实验条件下，通过固定于机器人头部前方的摄像机录制完成。

本数据集提供两个版本：压缩版（207MB）与非压缩版（3.52 GB）。

文件命名规则
每个视频文件遵循以下格式：
(运动轴)_(角度)_(加速度)_(重复次数).mp4

示例：
roll_10_2.0_3.mp4
pitch_5_0.5_1.mp4
yaw_10_0.5_2.mp4

其中：
- 运动轴 ∈ {roll, pitch, yaw}
- 角度 ∈ {5, 10}（单位：度）
- 加速度 ∈ {0.5, 2.0}（单位：m/s²）
- 重复次数 ∈ {1, 2, 3}（单位：次）

例如，文件roll_10_2.0_3.mp4对应最大角位移为10°、加速度为2.0 m/s²且重复三次的滚转运动。

视觉信息分析
本数据集旨在支持机器人颈部运动产生的视觉信息的测量工作，同时也可用于相关调研以及未来机器人设计方案的论证。

应用场景
本数据集的潜在应用包括：
1. 人机交互研究
2. 拟人机器人运动分析
3. 具身信息与传播研究
4. 运动感知与视觉显著性建模
5. 机器人行为生成与评估
6. 机器人运动信息论度量的基准测试

引用说明
若您在研究中使用本数据集，请引用描述具身信息框架与视觉熵分析方法的相关学术论文。本引用信息将随包含本数据集详细信息的学术论文被录用后一并公开。