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

    work
    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

  • BigAnt v6 robot motion tracking data - processed dataset

    work
    Creator:
    BIRDS Lab, U. Michigan
    Description:
    These data were produced in an attempt to characterize the turning and steering behaviors of 1-DoF multi-legged (hexpedal in this case) robots. Such turning behaviors require sliding contact points. All the data is provided in a single, large .csv.gz file (416256 rows); additional details and example code in the README
    Keyword:
    robot, multilegged, and steering
    Citation to related publication:
    BIRDS Lab, U. BigAnt v6 robot motion tracking data - RAW dataset [Data set], University of Michigan - Deep Blue Data.  https://doi.org/10.7302/024q-kk06, Revzen, S., & Guckenheimer, J. (2008). Estimating the phase of synchronized oscillators. Phys. Rev. E, 78, 051907.  http://dx.doi.org/10.1103/PhysRevE.78.051907, and Dan Zhao and Shai Revzen 2020 Bioinspir. Biomim. 15 045001  https://doi.org/10.1088/1748-3190/ab84c0
    Discipline:
    Engineering

  • BigAnt v6 robot motion tracking data - RAW dataset

    work
    Creator:
    BIRDS Lab, U. Michigan
    Description:
    These data were produced in an attempt to characterize the turning and steering behaviors of 1-DoF multi-legged (hexpedal in this case) robots. Such turning behaviors require sliding contact points. The .tar file contains multiple trials in .csv.gz format, with names following an informative naming convention documented in the README. Additional metadata for the trials is given in the metadata.py file in both machine and human readable form.
    Keyword:
    robot, multilegged, and steering
    Citation to related publication:
    Dan Zhao and Shai Revzen 2020 Bioinspir. Biomim. 15 045001  https://doi.org/10.1088/1748-3190/ab84c0
    Discipline:
    Engineering