Work Description
Title: BIRDS Lab Multipod robot motion tracking data - VIDEOS dataset Open Access Deposited
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(2021). BIRDS Lab Multipod robot motion tracking data - VIDEOS dataset [Data set], University of Michigan - Deep Blue Data. https://doi.org/10.7302/1y3q-1b42
Relationships
Files (Count: 10; Size: 16.5 GB)
Thumbnailthumbnail-column | Title | Original Upload | Last Modified | File Size | Access | Actions |
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Crawl.tar | 2021-10-22 | 2021-10-22 | 82.1 MB | Open Access |
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Roll=1500_Yaw=2000_Fr=1.400.tar | 2021-10-22 | 2021-10-22 | 569 MB | Open Access |
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Roll=1500_Yaw=2000_Fr=3.333.tar | 2021-10-22 | 2021-10-22 | 400 MB | Open Access |
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Roll=2500_Yaw=2000_Fr=0.333.tar | 2021-10-22 | 2021-10-22 | 5.85 GB | Open Access |
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Roll=2500_Yaw=2000_Fr=0.666.tar | 2021-10-24 | 2021-10-24 | 3.13 GB | Open Access |
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Roll=2500_Yaw=2000_Fr=1.332.tar | 2021-10-24 | 2021-10-24 | 2.23 GB | Open Access |
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Roll=2500_Yaw=2000_Fr=2.664.tar | 2021-10-24 | 2021-10-24 | 2.25 GB | Open Access |
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Roll=2500_Yaw=2000_Fr=3.333.tar | 2021-10-24 | 2021-10-24 | 1.92 GB | Open Access |
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Speed-test-video.tar | 2021-10-24 | 2021-10-24 | 62.6 MB | Open Access |
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README.txt | 2021-11-04 | 2021-11-08 | 2.14 KB | Open Access |
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Video 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
This VIDEOS dataset is intended to be used in conjuction with the Multipod RAW dataset which contains the motion tracking data found at https://doi.org/10.7302/m05a-0d90
It contains bundles of videos that unpack into <<-data-folder->>/videos folders of the associated data files.
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 - VIDEOS dataset [Data set],
University of Michigan - Deep Blue Data. https://doi.org/10.7302/1y3q-1b42
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.