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. Show more
Permanent link
https://doi.org/10.3929/ethz-b-000370042Contributors
Contact person: Kolvenbach, Hendrik
Data collector: Bärtschi, Christian
Data collector: Kolvenbach, Hendrik
Publisher
ETH ZurichSoftware
MatlabGeographic location
Place nameZurich
Subject
Terramechanics; Legged Robotics; Space Exploration; Mars; Contact dynamics; Machine LearningOrganisational unit
09570 - Hutter, Marco / Hutter, Marco
Funding
780883 - subTerranean Haptic INvestiGator (EC)
Related publications and datasets
Is supplement to: http://hdl.handle.net/20.500.11850/322720
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