Humanoid Terrain Characterization Dataset

This dataset was collected from force, current, angle (magnetic rotary encoder), and inertial sensors of the NAO humanoid robot while walking on Vinyl, Gravel, Wood, Concrete, Artificial grass, and Asphalt without a slope and while walking on Vinyl, Gravel, and Wood with a slope of 2 degrees. In total, counting all different axes and components of each sensor, we monitored 27 parameters on-board of the robot. The data was collected while the robot was moving 0.4 meters in the Forward, Backward, Left, and Right directions, and the data collection process was repeated five times for each terrain in each direction. Moreover, the forward and backward iterations had a maximum step size of 0.02 m, step height of 0.01 m and maximum step frequency of 0.005 while the left and right iterations had a maximum step size of 0.12 m, step height of 0.02 m and maximum step frequency of 0.005.