Dataset for the article: Robotic Feet Modeled After Ungulates Improve Locomotion on Soft Wet Grounds

<div> <div>This repository contains data for three different experiments presented in the paper:</div> <br> <div>(1) moose_feet (40 files): The moose leg experiments are labeled as ax_y.nc,</div> <div>where 'a' indicates attached digits and 'f' indicates free digits. The</div> <div>number 'x' is either 1 (front leg) or 2 (hind leg), and the number 'y'</div> <div>is an increment from 0 to 9 representing the 10 samples of each set.</div> <br> <div>(2) synthetic_feet (120 files): The synthetic feet experiments are labeled</div> <div>as lw_a_y.nc, where 'lw' (Low Water content) can be replaced by 'mw'</div> <div>(Medium Water content) or 'vw' (Vast Water content). The 'a' can be 'o'</div> <div>(Original Go1 foot), 'r' (Rigid extended foot), 'f' (Free digits anisotropic</div> <div>foot), or 'a' (Attached digits). Similar to (1), the last number is an increment from 0 to 9.</div> <br> <div>(3) Go1 (15 files): The locomotion experiments of the quadruped robot on the</div> <div>track are labeled as condition_y.nc, where 'condition' is either 'hard_ground'</div> <div>for experiments on hard ground, 'bioinspired_feet' for the locomotion of the</div> <div>quadruped on mud using bio-inspired anisotropic feet, or 'original_feet' for</div> <div>experiments where the robot used the original Go1 feet. The 'y' is an increment from 0 to 4.</div> <br> <div>The files for moose_feet and synthetic_feet contain timestamp (s), position (m), and force (N) data.</div> <div>The files for Go1 contain timestamp (s), position (rad), velocity (rad/s), torque (Nm) data for all 12 motors, and the distance traveled by the robot (m).</div> <br> <div>All files can be read using xarray datasets (https://docs.xarray.dev/en/stable/generated/xarray.Dataset.html).</div> </div>