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Filtering by: Creator BIRDS Lab, U. Michigan Remove constraint Creator: BIRDS Lab, U. Michigan Discipline Science Remove constraint Discipline: Science

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  • BIRDS Lab Multipod robot motion tracking data - processed data and code

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    Creator:
    BIRDS Lab, U. Michigan
    Description:
    These data were produced for ARO W911NF-14-1-0573 "Morphologically Modulated Dynamics" and ARO MURI W911NF-17-1-0306 "From Data-Driven Operator Theoretic Schemes to Prediction, Inference, and Control of Systems" to explore the trade-offs between various oscillator coupling models in modeling multilegged locomotion of Multipod robots with 6,8,10 and 12 legs. The data is stored in .csv.gz files, one file for each robot morphology. Details of how to run the processing code on the raw dataset to generate the processed files found here, as well as example code for loading the data found here, are in the README. This dataset is self contained and can be used on its own without running any of the provided code.
    Citation to related publication:
    Zhao, D. & Revzen, S. Multi-legged steering and slipping with low DoF hexapod robots Bioinspiration & biomimetics, 2020, 15, 045001  https://doi.org/10.1088/1748-3190/ab84c0, Zhao, D. Ph.D. Thesis "Locomotion of low-DOF multi-legged robots" University of Michigan 2021  https://deepblue.lib.umich.edu/handle/2027.42/169985, and BIRDS Lab Multipod robot motion tracking data - RAW data, doi:10.7302/m05a-0d90
    Discipline:
    Engineering and Science