Planetary Soil Impact Dataset (PALPATE) - Dataset
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Author / Producer
Date
2018-12-04
Publication Type
Dataset
ETH Bibliography
yes
Citations
Altmetric
OPEN ACCESS
Data
Rights / License
Abstract
The Planetary Soil Impact Dataset (PALPATE) is a dataset recorded to demonstrate the applicability of machine learning methods to classify the complex feet-soil interaction on fine-grained soils. The dataset consists of 2600 feet-soil impacts, which were automatically executed and recorded with a specially designed testbed. Impacts were performed on a variety of Martian soil simulants, such as ES-1, ES-2, ES-3 and other. The dataset includes the sensor signals acquired by two different feet and sensors on the testbed. Additionally, a small dataset with 240 impacts created by the quadruped robot ANYmal is included.
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Publication status
External links
Editor
Contributors
Contact person : Kolvenbach, Hendrik
Data collector : Bärtschi, Christian
Data collector : Kolvenbach, Hendrik
Book title
Journal / series
Volume
Pages / Article No.
Publisher
ETH Zurich
Event
Edition / version
Methods
Software
Matlab
Geographic location
Place name
Zurich
Zurich
Date collected
Date created
Subject
Terramechanics; Legged Robotics; Space Exploration; Mars; Contact dynamics; Machine Learning
Organisational unit
09570 - Hutter, Marco / Hutter, Marco
Notes
Funding
780883 - subTerranean Haptic INvestiGator (EC)
Related publications and datasets
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Is supplement to: https://doi.org/10.3929/ethz-b-000322720