BIRDS Lab Multipod robot motion tracking data - RAW dataset

These data were produced for ARO W911NF-14-1-0573 "Morphologically Modulated Dynamics" and ARO MURI W911NF-17-1-0306 "From Data-Driven Operator Theoretic Schemes to Prediction, Inference, and Control of Systems" 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.

本数据集由美国陆军研究办公室（Army Research Office，ARO）资助项目ARO W911NF-14-1-0573「形态调制动力学（Morphologically Modulated Dynamics）」，以及ARO多学科大学研究计划（Multidisciplinary University Research Initiative，MURI）项目W911NF-17-1-0306「从数据驱动算子理论框架实现系统的预测、推理与控制」生成，用于探究多足运动建模场景下各类振子耦合模型间的权衡关系。该数据集还被广泛应用于多接触滑移特性分析、腿数量对同基准运动模式的影响研究，以及多足运动几何力学模型的相关研究工作。数据集的文件夹与文件名已完成元数据编码，命名规则遵循README文档中载明的信息性命名约定。