Work Description
Title: BigAnt v6 robot motion tracking data - RAW dataset Open Access Deposited
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(2021). BigAnt v6 robot motion tracking data - RAW dataset [Data set], University of Michigan - Deep Blue Data. https://doi.org/10.7302/024q-kk06
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Files (Count: 6; Size: 61.9 MB)
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BigAnt6-front.JPG | 2021-08-18 | 2021-08-18 | 1.63 MB | Open Access |
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BigAnt6-iso.JPG | 2021-08-18 | 2021-08-18 | 1.81 MB | Open Access |
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BigAnt6-side.JPG | 2021-08-18 | 2021-08-18 | 1.59 MB | Open Access |
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BigAnt6-top.JPG | 2021-08-18 | 2021-08-18 | 1.91 MB | Open Access |
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BigAnt-data-raw.tar | 2021-08-26 | 2021-08-26 | 55 MB | Open Access |
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README.txt | 2021-08-26 | 2021-08-26 | 2.48 KB | Open Access |
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Raw data files for BigAnt 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 file names follow a naming convention, e.g. 2019-07-11-T+75_f22_gL_e2
Was a trial taken on July 11th, 2019,
with turning (T) rate +0.75,
at frequency (f) 0.22Hz,
on the Low friction ground (g) surface;
this was the 3rd experiment (e) with these parameters (e0 would have been the first).
All data files are .csv.gz files, with 9 header lines.
All data in the files are integers, in units of either 1.0 mm or 0.5 mm (see metadata.py for scale)
Typical python code for reading the data is:
from numpy import loadtxt
d = loadtxt('2019-07-11-T+75_f22_gL_e2.csv.gz',skiprows=9,delimiter=',')
xyz = d.reshape(d.shape[0],d.shape[1]//3,3)
The key technologies used to develop the robot were described in:
Fitzner, I.; Sun, Y.; Sachdeva, V. & Revzen, S.
Rapidly Prototyping Robots: Using Plates and Reinforced Flexures
IEEE Robotics Automation Magazine, 2017, 24, 41-47
https://doi.org/10.1109/MRA.2016.2639058
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. BigAnt v6 robot motion tracking data - RAW dataset [Data set],
University of Michigan - Deep Blue Data. https://doi.org/10.7302/024q-kk06
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"
D. Dan and Betty Kahn Michigan-Israel Partnership for Research and Education Autonomous Systems Mega-Project
NSF CMMI 1825918 "Geometrically-Optimal Gait Optimization"
With particular thanks to Devin Miller & Haotian Li for their hard work on robot data collection.