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Depositor ssim
shrevzen@umich.edu
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Science
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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
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- Creator:
- BIRDS Lab U. Michigan
- Description:
- This dataset contains the videos used for https://doi.org/10.7302/m05a-0d90 (the "raw" motion tracking dataset), and is intended to be unpacked into the same directory tree. The 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. The data were also used extensively in examining multi-contact slipping, in the studying the influence of number of legs on otherwise identical locomotion patterns, and in the use of geometric mechanics models for multilegged locomotion. Folder and file names encode the meta-data, with names following an informative naming convention documented in the README.
- Keyword:
- phase, multilegged, robot, and locomotion
- Citation to related publication:
- BIRDS Lab U. Michigan. BIRDS Lab Multipod robot motion tracking data - RAW dataset [Data set], University of Michigan - Deep Blue Data. https://doi.org/10.7302/m05a-0d90, 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 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
- Discipline:
- Science and Engineering
-
- Creator:
- Wu, Ziyou, Brunton, Steven L, and Revzen, Shai
- Description:
- These codes were produced as part of the Army Research Office Multi-University Research Initiative ARO MURI W911NF-17-1-0306 "From Data-Driven Operator Theoretic Schemes to Prediction, Inference, and Control of Systems" The code can be run using the runAll.sh shell script (in Linux and OS-X); code should work similarly under windows.
- Keyword:
- DMD, dimensionality reduction, dynamical systems, and nonlinear dynamics
- Discipline:
- Engineering and Science
-
- 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. The data were also used extensively in examining multi-contact slipping, in the studying the influence of number of legs on otherwise identical locomotion patterns, and in the use of geometric mechanics models for multilegged locomotion. Folder and file names encode the meta-data, with names following an informative naming convention documented in the README.
- Keyword:
- phase, multilegged, robot, and locomotion
- 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 and 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
- Discipline:
- Science and Engineering
-
- Creator:
- Revzen, Shai
- Description:
- This repository contains both the data and python3 code that reads this data and reproduces the relevant figures. The code depends on NumPy >1.17 and matplotlib >3.1 and was tested on python 3.8
- Keyword:
- locomotion, slipping, low Reynolds number, walking, and slithering
- Discipline:
- Science and Engineering