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.