BigAnt v6 robot motion tracking data - RAW dataset

BIRDS-Lab

, 2021

DOI All publications

Abstract

We used a commercial motion tracking system (Qualisys QTM with 10 cameras) to track 3 different BigAnt v6 robots with motion tracking markers attached. The dataset contains picture of one of the robots with the markers highlighted. We ran each robot at multiple "turning parameter" values and gait frequencies, and some robots were run on both High friction (rubber mats) and Low friction (flat linoleum) ground. This is the "raw" dataset. It contain all markers tracked on each of the robot, and is prior to various data conditioning a clean-up (e.g. removing z changes due to slightly non-flat floors) These data were produced in an attempt to characterize the turning and steering behaviors of 1-DoF multi-legged (hexpedal in this case) robots. Such turning behaviors require sliding contact points. The .tar file contains multiple trials in .csv.gz format, with names following an informative naming convention documented in the README. Additional metadata for the trials is given in the metadata.py file in both machine and human readable form.

BibTeX

@manual{BigAnt-raw-data,
  title = {BigAnt v6 robot motion tracking data - RAW dataset},
  author = {BIRDS-Lab},
  month = aug,
  year = {2021},
  doi = {10.7302/024q-kk06},
  howpublished = {Deepblue Data Repository}
}