%0 Dataset
%T Trajectory Planning Dataset for the Cable-Trailer Quadruped Robot in an L-Shaped Narrow Corridor
%J National Cryosphere Desert Data Center
%I National Cryosphere Desert Data Center(www.ncdc.ac.cn)
%U http://www.ncdc.ac.cn/portal/metadata/ee037b71-2055-4bc5-ad5d-87b9f8b73090
%W NCDC
%A zhang wen tao
%A xu shao hang
%A zuo ge wei
%A li bo lin
%A wang jing bo
%A zhu li jun
%K Cable-trailer quadruped robot;hybrid dynamics;trajectory planning;L-shaped narrow corridor;mode transition
%X This dataset corresponds to Fig. 8 of the paper and records challenging trajectory planning and real-world tracking results for a cable-trailer with quadruped robot (CT-QR) system in an L-shaped narrow corridor. The data describe an approximately 0.9 m-wide corridor experiment and include the target trajectory, real motion trajectory, tractor and trailer states, taut/slack cable-mode transitions, velocity profiles, and tracking states. The trajectory is generated using hybrid dynamics modeling, front-end hybrid search, and back-end nonlinear trajectory optimization, and is validated on a Unitree A1 quadruped robot with a customized cable-trailer. The dataset can be used to reproduce the target trajectory, real trajectory, and tracking-state curves in Fig. 8, and to evaluate feasibility, safety, and dynamic executability of hybrid-mode trajectory planning in narrow environments.