BIRDS Lab Multipod robot motion tracking data - RAW dataset

BIRDS-Lab

, 2021

Abstract

We used a commercial motion tracking system (Qualisys QTM with 10 cameras) to track Multipod robots with 4,6,8,10 and 12 legs. These robots had motion tracking markers attached. The dataset contains picture of one of the robots with the markers highlighted, and an example video of unmarked robots moving. We ran each robot at multiple inter-segment phase differences and gait frequencies, and some robots were run with two different roll angle amplitudes for the leg motions. 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. These data were produced for ARO W911NF-14-1-0573 "Morphologically Modulated Dynamics" to explore the trade-offs between various oscillator coupling models in modeling multilegged locomotion. The data were also used extensively in examining multi-contact slipping, in the studying the influence of number of legs on otherwise identical locomotion patterns, and in the use of geometric mechanics models for multilegged locomotion. Folder and file names encode the meta-data, with names following an informative naming convention documented in the README.

BibTeX

@manual{Multipod-raw-data,
  title = {BIRDS Lab Multipod robot motion tracking data - RAW dataset},
  author = {BIRDS-Lab},
  month = oct,
  year = {2021},
  doi = {10.7302/m05a-0d90},
  howpublished = {Deepblue Data Repository}
}