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.

本数据集采集自NAO人形机器人的力传感器、电流传感器、角度传感器（磁性旋转编码器，magnetic rotary encoder）以及惯性传感器，采集场景包括机器人在无坡度的乙烯基地面、碎石地面、木质地面、混凝土地面、人工草坪及沥青地面行走，以及在坡度为2度的乙烯基、碎石和木质地面行走。总计针对每个传感器的各轴与组件进行统计，我们共监测了该机器人机载的27项参数。数据采集过程中，机器人分别沿前、后、左、右四个方向移动0.4米，且每种地形在每个方向下的数据采集流程均重复五次。其中，前后方向行走的单次步长最大值为0.02米、步高为0.01米，最大步频为0.005；左右方向行走的单次步长最大值为0.12米、步高为0.02米，最大步频为0.005。