Motion Capture Data
A Vicon motion capture system with 3 infrared cameras recorded the 3D positions
of markers placed on the device at 200 samples per second.
The device travels down the ramp at approximately 0.5 meters per second.
The images below are 2D slices of the raw,
unfiltered motion capture data showing the planar motion that was the focus of our study.
Motion perpendicular to this plane is negligible during normal hopping.
On a given plot, a higher trace is a path that is higher on the robot.
On different plots, different body part motions are shown.
The color scheme is random, and not consistent between plots.
The vertical scale is exaggerated on all plots.
NOTE:
axes are not to scale
gaps in data represent a loss of tracking by the camera system
--- Click on an image below ---
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