Work Description

Title: Force/Torque BigANT Processed Data Open Access Deposited

O
Attribute Value
Methodology
  • The data in this repository was processed from raw data collected at BIRDS Lab, EECS, U. Michigan in 2023 using a custom built robot carrying 6 ATI Gamma Force/Torque transducers, and Qualisys QTM motion tracking system. Details of the measurement techniques are in this technical report: Revzen and Wu. In-situ calibration of six-axis force/torque transducers on legged robot. Technical report. Published 2023-05-30. DOI:  https://dx.doi.org/10.7302/7633
Description
  • The data in this repository is a nearly unique dataset at the time of its making -- precise measurements of all contact forces of a 6-legged robot during multi-legged slipping motions and regular walking. These data were collected to establish the validity of the observation presented in this article: Zhao et al. Walking is like slithering: A unifying, data-driven view of locomotion. (2022) PNAS 119(37): e113222119. DOI:  https://doi.org/10.1073/pnas.2113222119
Creator
Depositor
  • shrevzen@umich.edu
Contact information
Discipline
Funding agency
  • Other Funding Agency
  • National Science Foundation (NSF)
Other Funding agency
  • Kahn Foundation Robotics Megaproject

  • Army Research Office (DOD)
Keyword
Date coverage
  • 2023-01-01 to 2023-05-31
Citations to related material
  • Science Robotics paper being submitted
Related items in Deep Blue Documents
  • Revzen and Wu. In-situ calibration of six-axis force/torque transducers on legged robot. Technical report. Published 2023-05-30. DOI: https://dx.doi.org/10.7302/7633
Resource type
Last modified
  • 06/15/2023
Published
  • 06/15/2023
Language
DOI
  • https://doi.org/10.7302/vktt-gf88
License
  • data under CC4.0 BY-NC-SA, code under GPLv3
To Cite this Work:
Wu, Z., Revzen, S. (2023). Force/Torque BigANT Processed Data [Data set], University of Michigan - Deep Blue Data. https://doi.org/10.7302/vktt-gf88

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Files (Count: 6; Size: 22.1 MB)

Thumbnailthumbnail-column Title Original Upload Last Modified File Size Access Actions
LICENSE 2023-06-01 2023-06-01 975 Bytes Open Access
multi_contact_lib.py 2023-06-01 2023-06-01 10.7 KB Open Access
multi_contact_model.py 2023-06-01 2023-06-01 11.8 KB Open Access
data.tgz 2023-06-01 2023-06-01 22.1 MB Open Access
multi_contact_model.py 2023-06-13 2023-06-13 12 KB Open Access
README 2023-06-14 2023-06-14 3.64 KB Open Access

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