IMU and marker-based optical motion capture from a humanoid robot

<p>The motion capture contains walking trials from the lower body of the humanoid robot&nbsp;Reem-C from Pal Robotics (Barcelona, Spain). Seven IMUs were attached on the foot, lower leg, upper leg and pelvis segments.&nbsp;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.<br>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.</p>