Download Report IEEE DataPort : Closed-chain leg sliding sensation dataset for different terrains v2 - 2026
AVI, CSV, TXT by Haoyu Sun, Zihan Zhang, Chengcheng Yang, Jianxu Wu, Zhaojun Gu, Cangyi Ma, Xinyao Liu, Jiawei Zhang
Information
Format: AVI, CSV, TXT Publisher: IEEE DataPort Publication Date of the Electronic Edition: 02/21/2026
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ISBN: 10.21227/3dsh-f918
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Description
This dataset provides tactile sensing data for ground surface recognition across 11 terrain types with different hardness, roughness, and deformability, including cement, rock, ice, gravel, sands, grassland, snow, soil, and wet soil. Raw signals are recorded in .asc format by a tri-axial accelerometer mounted on a closed-chain leg sliding platform. Through standardized processing such as noise removal, drift correction, peak detection, and cycle segmentation, the continuous signals are converted into high-quality cycle-level samples stored in .csv format with three-axis time-series data. The dataset supports research in terrain classification, robotic perception, and all-terrain locomotion.
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