Experimental Locomotion and Telemetry Dataset for Low-Cost Quadruped Robot
Description
This dataset contains experimental evaluation and telemetry data for a low-cost, sensor-driven quadruped robotic platform designed for smart indoor monitoring applications. The dataset captures performance metrics across 25 indoor locomotion trials, including gait stability, walking velocity as a function of servo step delay, ultrasonic distance sensor triggering thresholds (<10 cm), and 7.4V Li-ion battery discharge profiles over a continuous 45-minute runtime. Additionally, it includes 3D CAD assembly files, circuit schematics, and embedded ESP32 control logic for platform reproduction.
Files
Steps to reproduce
Load the provided ESP32 firmware onto the microcontroller and wire the PCA9685 PWM driver, HC-SR04 ultrasonic sensor, and ISD1820 sound module according to the provided circuit schematic. Power the system using a fully charged 7.4V Li-ion battery pack. Place the quadruped robot on a flat, level indoor surface. Connect to the onboard ESP32 web server interface via Wi-Fi. Execute trot gait sequences at varying step delays (75 ms to 175 ms) to measure velocity and gait success over 25 individual trials. Introduce obstacles within 10 cm of the front ultrasonic sensor to verify the emergency stop and audio alert override triggers.
Institutions
- Air UniversityIslamabad, Islamabad