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.

本运动捕捉数据集收录了来自西班牙巴塞罗那帕尔机器人（Pal Robotics）公司研制的人形机器人Reem-C的下半身行走测试数据。共7台惯性测量单元（IMU, Inertial Measurement Unit）分别安装于足部、小腿、大腿与骨盆节段之上，IMU数据的采样率为100 Hz。此外，本研究还借助基于标记点的光学捕捉系统（瑞典哥德堡Qualisys AB公司出品）以150 Hz的采样率采集了机器人的运动数据。本数据集的核心应用场景为行走运动，共包含3组测试数据，每组时长约6.5分钟。数据集涵盖骨骼结构定义（含节段长度与坐标位置信息）、原始IMU读数以及光学捕捉系统获取的位姿与运动学数据。