Work Description

Title: BIRDS Lab Multipod robot motion tracking data - processed data and code Open Access Deposited

O
Attribute Value
Methodology
  • This dataset is derived from the raw dataset found at doi:10.7302/m05a-0d90 using the global phase estimation based on the Phaser algorithm doi: 10.1103/PhysRevE.78.051907 and additional processing.
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.
Creator
Depositor
  • shrevzen@umich.edu
Contact information
Discipline
Funding agency
  • Department of Defense (DOD)
Citations to related material
Related items in Deep Blue Documents
Resource type
Last modified
  • 11/19/2022
Published
  • 11/02/2021
Language
DOI
  • https://doi.org/10.7302/0fpj-dz57
License
  • GPL 3.0
To Cite this Work:
BIRDS Lab, U. M. (2021). BIRDS Lab Multipod robot motion tracking data - processed data and code [Data set], University of Michigan - Deep Blue Data. https://doi.org/10.7302/0fpj-dz57

Relationships

In Collection:

Files (Count: 8; Size: 31.4 MB)

Thumbnailthumbnail-column Title Original Upload Last Modified File Size Access Actions
LICENSE 2021-10-16 2021-10-16 34.3 KB Open Access
Multipod_data_processed6_Leg.csv.gz 2021-10-16 2021-10-16 5.92 MB Open Access
Multipod_data_processed8_Leg.csv.gz 2021-10-16 2021-10-16 7.19 MB Open Access
Multipod_data_processed10_Leg.csv.gz 2021-10-16 2021-10-16 8.4 MB Open Access
Multipod_data_processed12_Leg.csv.gz 2021-10-16 2021-10-16 9.83 MB Open Access
phaser.py 2021-10-16 2021-10-16 23.4 KB Open Access
processData.py 2021-10-16 2021-10-16 20.4 KB Open Access
README.txt 2021-11-02 2021-11-02 1.72 KB Open Access

Multipod processing code and fully processed data
Copyright (c) Dan Zhao 2018-2021 & Shai Revzen 2008-2021

The code in this folder uses the Multipod RAW dataset found at https://doi.org/10.7302/m05a-0d90
to re-create Multipod_data_processed*_Leg.csv.gz with * = 6,8,10,12.
The raw dataset also contain photos showing the locations of the motion tracking markers.

However, for most applications there is no need to re-create these data files.
You can use the .csv.gz file as is. There is one header row. To read all the data, use

from numpy import loadtxt
dat = loadtxt( FILENAME, delimiter=',', skiprows=1)
This can take a hot minute to load; at the end dat.shape will equal
for 6 legs (103044, 59)
for 8 legs (102849, 73)
for 10 legs (103871, 87)
for 12 legs (104274, 101)

If you want the column headings, you can use:
import gzip
with gzip.open( FILENAME,"rb") as f:
hdr = f.readline().strip().split(b",")

The processing code and the associated libraries are provided subject to the GPL 3.0 license.
This is the "greater" GPL, and it requires (among other things) that any code using our code
be itself free and open-source.

To run the processing code, first download the Multipod-raw.tar file using the DOI and put in
the current folder. Then give the command:

python3 processData.py

if you want to speed things up, you can also indicate which leg number to process on the command-line, e.g.

python3 processData.py 6_Leg

On a strong machine this allows you to process the dataset about 4 times faster by launching multiple processing tasks in parallel.

To Cite this data:
BIRDS Lab, U. BIRDS Lab Multipod robot motion tracking data - processed data and code [Data set], University of Michigan - Deep Blue Data. https://doi.org/10.7302/0fpj-dz57

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