TY  - Data
T1  - Trajectory Planning Dataset for the Cable-Trailer Quadruped Robot in an L-Shaped Narrow Corridor
A1  - zhang wen tao
A1  - xu shao hang
A1  - zuo ge wei
A1  - li bo lin
A1  - wang jing bo
A1  - zhu li jun
PY  - 2026
DA  - 2026-07-09
PB  - National Cryosphere Desert Data Center
AB  - 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.
DB  - NCDC
UR  - http://www.ncdc.ac.cn/portal/metadata/ee037b71-2055-4bc5-ad5d-87b9f8b73090
ER  -