Data · dataset · 2026
Bayesian Optimization Trial Log for PD Gain Tuning of a Quadruped Robot Subject to Lunar-Gravity Landing Impacts
Listed in ScienceDB
This dataset documents the complete trial history of a Bayesian optimization (TPE-based) process aimed at tuning the PD controller gains for a Unitree Go2 quadruped robot operating under lunar gravity (1.625 m/s²).
Description
A total of 200 parameter configurations were evaluated, each tested across 11 drop heights (0.45–0.55 m) in Isaac Sim simulations. For every successful trial, the settling time and steady-state oscillation amplitude were recorded; failed trials were assigned a penalty value of 10.
The dataset includes the full parameter space, intermediate scoring metrics per height, and convergence traces, providing a comprehensive benchmark for studying controller robustness and optimization efficiency in low-gravity legged locomotion.
Links
Where it is published
- DOI doi.org/10.57760/sciencedb.43001 ↗
DOI / persistent id · from scidb cn
Catalogue records · 1
- OAI-PMH record scidb.cn/oai?verb=GetRecord&metadataPrefix=oai_dc&identifier=10.57760%2… ↗
metadata API · from scidb cn
Topics
- From keywords
- Earth & Environmental Science · Engineering · Humanities · Life Sciences · Social Science
- Inferred from text
- Aerospace engineering 73%
Provenance · 1 source records, 11 field assertions
| Source | Key | Last seen | Raw |
|---|---|---|---|
| ScienceDB | 10.57760/sciencedb.43001 | 12 d ago | JSON v1 |
| Field | Assertion | Extractor | Evidence |
|---|---|---|---|
| access_level | source · scidb cn | connector:scidb_cn@1.0.0 | |
| concepts[field].anzsrc:group:4001 | enrichment · scidb cn | taxonomy-embedding@1.0.0 | title+keywords+description (73%) |
| concepts[field].local:field:earth-environmental | mapping · scidb cn | connector:scidb_cn@1.0.0 | |
| concepts[field].local:field:engineering | mapping · scidb cn | connector:scidb_cn@1.0.0 | |
| concepts[field].local:field:humanities | mapping · scidb cn | connector:scidb_cn@1.0.0 | |
| concepts[field].local:field:life-sciences | mapping · scidb cn | connector:scidb_cn@1.0.0 | |
| concepts[field].local:field:social-science | mapping · scidb cn | connector:scidb_cn@1.0.0 | |
| description | source · scidb cn | connector:scidb_cn@1.0.0 | /metadata/dc/description |
| license | source · scidb cn | connector:scidb_cn@1.0.0 | /metadata/dc/rights |
| publication_date | source · scidb cn | connector:scidb_cn@1.0.0 | |
| title | source · scidb cn | connector:scidb_cn@1.0.0 | /metadata/dc/title |