Work Description
Title: BIRDS Lab Multipod robot motion tracking data - RAW dataset Open Access Deposited
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(2021). BIRDS Lab Multipod robot motion tracking data - RAW dataset [Data set], University of Michigan - Deep Blue Data. https://doi.org/10.7302/m05a-0d90
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Files (Count: 7; Size: 203 MB)
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2020-09-26_17-52-43.mp4 | 2021-10-11 | 2021-10-11 | 3.05 MB | Open Access |
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Multipod-front.JPG | 2021-10-11 | 2021-10-11 | 1.43 MB | Open Access |
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Multipod-iso.JPG | 2021-10-11 | 2021-10-11 | 2.01 MB | Open Access |
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Multipod-side.JPG | 2021-10-11 | 2021-10-11 | 1.62 MB | Open Access |
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Multipod-top.JPG | 2021-10-11 | 2021-10-11 | 2 MB | Open Access |
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Multipod-RAW.tar | 2021-10-16 | 2021-10-16 | 193 MB | Open Access |
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README.txt | 2021-11-04 | 2021-11-08 | 2.43 KB | Open Access |
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Raw data files for Multipod robot motion tracking data collected at the University of Michigan's Bio-Inspired Robotics and Dynamical Systems Lab
(BIRDS-Lab) https://www.birds.eecs.umich.edu Principal Investigator: Shai Revzen
Collection of these data is the work of many people over a period of several years.
Data is stored in folders whose names encode metadata, e.g. Roll=2500_Yaw=2000_Fr=2.664/8_Leg/
Roll motion amplitude set to 2500 centi-degrees
Yaw motion amplitude set to 2000 centi-degrees
Gait frequency set to 2.664 Hz
The sub-folder 8_Leg contains data from the 8 legged multipod under those conditions
The file names encode additional data, e.g. 8_Leg_Phase_Difference_110_PI_Frequency=2_664.csv.gz
Contains data from 8-legged robot
Phase difference between consecutive segements was 1.10 PI (note: divide by 100)
Gait frequency set to 2.664 Hz (note: . converted to _)
All data files are .csv.gz files, with 11 header lines.
Typical python code for reading the data and plotting it in a scipy environment is:
d = loadtxt('8_Leg_Phase_Difference_020_PI_Frequency=0_333.csv.gz',delimiter=',',skiprows=11)
d.shape=d.shape[0],d.shape[1]//3,3
plot(d[...,0],d[...,1])
The robot is based on the CKBot modular robot architecture designed by ModLab at UPenn.
It extensively uses the ModLock ( Davey, et. al., IROS 2012 https://doi.org/10.1109/IROS.2012.6386190 )
The data in this dataset was used in the following publications:
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
and is currently being used in several additional manuscripts and pre-prints.
To Cite this Work:
BIRDS Lab, U. Multipod robot motion tracking data - RAW dataset [Data set],
University of Michigan - Deep Blue Data. https://doi.org/10.7302/m05a-0d90
Funding for the equipment was provided from:
University of Michigan start-up funds for Revzen
ARO W911NF-17-1-0243 "DRAKE: Dynamics, Robotics, And Kinematics Experiments"
Funding for researchers was provided from:
ARO W911NF-14-1-0573 "Morphologically Modulated Dynamics"
ARO MURI W911NF-17-1-0306 "From Data-Driven Operator Theoretic Schemes to Prediction, Inference, and Control of Systems"
With particular thanks to Haotian Li for his hard work on robot data collection.