Unitree Go2 Quadruped State Estimation Dataset (1,210 m)
Unitree Go2真实足式状态估计数据：Zenodo固定记录公开27条ROS2 Humble轨迹，室内9条约680米、Vulcano岛室外18条约530米；IMU与关节编码器1000Hz，室内以100Hz Vicon、室外以10Hz Emlid RTK/GNSS作真值。5个文件合计约5.41GB并提供MD5，数据CC-BY-4.0；对应DFKI-quad仓含可运行的自适应InEKF，但论文评测仍是离线回放而非闭环控制。
- 开放状态
- 已核验开放
- 许可证
- CC-BY-4.0 for dataset; linked repository root BSD-3-Clause; dependencies retain upstream terms
- 商业使用
- dataset permits commercial use with CC-BY-4.0 attribution; code and third-party robot/software terms remain separate
- 人工评审结论
- verified_public_nongated_zenodo_real_quadruped_state_estimation_dataset
- 机器人
- Unitree Go2 quadruped
- 任务
- indoor flat/stone locomotion and outdoor rocky/sandy field locomotion for state-estimator tuning and evaluation
- 模态
- IMU、joint states、leg kinematics、gait state and sequence、contact state、indoor Vicon pose、outdoor RTK/GNSS、selected control targets and solver telemetry
- 格式
- ROS2 Humble bag archives plus plotted trajectory bundles
- 采集/生成方式
- physical Unitree Go2 trotting and bio-inspired adaptive gait recorded as ROS2 Humble bag files
- 已知问题
- No duration aggregate, privacy issue is low but not explicitly discussed, no separate failure labels, custom ROS messages required, initial noise parameters are tuned on indoor L1/L5, outdoor residual method is slightly below foot-force baseline overall, and closed-loop control/humanoid transfer remain future work.