Dataset

This dataset for legged robot state estimation consists of recordings of the Unitree Go2 quadruped robot performing locomotion both indoors and outdoors. The aim is to evaluate proprioceptive state estimation using an IMU and leg odometry, both of which are recorded at 1000 Hz as bag files with ROS2 Humble. The robot performs two gaits: trotting and a bio-inspired adaptive gait which switches from walking to trotting based on the commanded velocity.

• The indoor experiments (L) are conducted at DFKI RIC in Bremen, Germany, with Vicon motion capture as ground truth. We provide 9 trajectories covering a total distance of 680 m.
• The outdoor experiments (F) are conducted on rocky terrain on Vulcano Island in Italy and contain accurate RTK/GNSS position data as ground truth. There are 18 trajectories, covering a total distance of 530 m.

Overview

An overview of the trajectories is provided in the table below. "L" stands for Lab (indoor) and "F" stands for Field Test (outdoor). For a quick look, you can visualise the plotted trajectories in the indoors_plots.zip and outdoors_plots.zip files.

Topic List

To find the custom message definitions, please visit our GitHub repository: https://github.com/dfki-ric-underactuated-lab/dfki-quad

1. Topic list for the indoor dataset:

Topic: /vicon/unitree_go2/unitree_go2 | Type: vicon_receiver/msg/Position
Topic: /quad_state | Type: interfaces/msg/QuadState
Topic: /joint_states | Type: interfaces/msg/JointState
Topic: /imu_measurement | Type: sensor_msgs/msg/Imu
Topic: /gait_state | Type: interfaces/msg/GaitState
Topic: /gait_sequence | Type: interfaces/msg/GaitSequence
Topic: /contact_state | Type: interfaces/msg/ContactState

2. Topic list for the outdoor dataset: 

Topic: /joint_cmd | Type: interfaces/msg/JointCmd
Topic: /time_reference | Type: sensor_msgs/msg/TimeReference
Topic: /joint_states | Type: interfaces/msg/JointState
Topic: /fix | Type: sensor_msgs/msg/NavSatFix
Topic: /cpu_power_consumption | Type: std_msgs/msg/Float64
Topic: /quad_state | Type: interfaces/msg/QuadState
Topic: /quad_model_update | Type: interfaces/msg/QuadModel
Topic: /gait_sequence | Type: interfaces/msg/GaitSequence
Topic: /open_loop_trajectory | Type: interfaces/msg/PositionSequence
Topic: /imu_measurement | Type: sensor_msgs/msg/Imu
Topic: /wbc_target | Type: interfaces/msg/WBCTarget
Topic: /wbc_solve_time | Type: std_msgs/msg/Float64
Topic: /gait_state | Type: interfaces/msg/GaitState
Topic: /vel | Type: geometry_msgs/msg/TwistStamped
Topic: /solve_time | Type: std_msgs/msg/Float64
Topic: /battery_state | Type: interfaces/msg/BatteryState
Topic: /quad_control_target | Type: interfaces/msg/QuadControlTarget
Topic: /contact_state | Type: interfaces/msg/ContactState

Contact

To contact the authors, please write to Mihaela Popescu at popescu@uni-bremen.de. If you use this dataset, please cite it by using its Zenodo DOI.