Datasets and Code
As part of a leading public research institution, Michigan Robotics researchers proudly share their work for others to test and build upon. Examples of this downloadable work are available here, sorted by lab.
A visual fiducial system, useful for a wide variety of tasks including augmented reality, robotics, and camera calibration.
Unmaintaned toolkit that includes camera calibration and visualization software.
Motion planning and manipulation under uncertainty.
Constrained Deformable Coherent Point Drift
Rope tracking through an implementation of Tracking Partially-Occluded Deformable Objects while Enforcing Geometric Constraints.
Parallel and differentiable forward kinematics (FK) and Jacobian calculation.
Feedback control of bipedal robots, especially the Cassie model from Agility Robotics.
Corso Research Group
The largest task-oriented, instructional video dataset in the vision community. It contains 2000 long untrimmed videos from 89 cooking recipes.
A dataset to support a broad class of video understanding problems: action recognition, actor-class recognition, multi-label actor/action recognition, actor-action semantic segmentation.
A convolutional neural network that integrates keypoint information with activations from the layers that process the image.
A library for building real time optical coherence tomography engines in C++ or Python
Chimpanzee Musculoskeletal Model
A model for estimating the force- and moment-generating capacity of the major pelvis and hind limb muscles in the chimpanzee.
A below-knee amputee model that accounts for the altered anatomy and the socket-limb interface dynamic.
Optimal Control Simulation in OpenSim
An approach for generating optimal control simulations using OpenSim & MATLAB.
Lower-limb kinematics and kinetics during continuously varying human locomotion
The lower-limb kinematics and kinetics of able-bodied participants walking at multiple inclines and speeds, running at multiple speeds, walking and running with constant acceleration, and stair ascent/descent with multiple stair inclines.
The Effect of Walking Incline and Speed on Human Leg Kinematics, Kinetics, and EMG
A dataset that contains leg joint kinematics, kinetics, and EMG activity and can be used to test models of human locomotion at varying speeds and inclines.
A Perturbation Mechanism for Investigations of Phase-Dependent Behavior in Human Locomotion
Sagittal-plane leg joint kinematics, ground reaction forces, and EMG activity from one stride starting at heel strike on the perturbation platform, which randomly moved the stance foot.
MATLAB Code for Biped Walker Simulation
This MATLAB package contains a simulation of an autonomous biped walker. This software can be useful for researchers looking for simulating controllers for autonomous bipeds, prosthetic legs, and/or exoskeletons.
Michigan Autonomous Vehicle Research Intergroup Collaboration (MAVRIC)
Warehouse Robot Interaction Sim
The Warehouse Robot Interaction Sim is an open-source immersive virtual platform developed in the Unreal Engine with the goal of conducting research on trust repair in HRI.
Neurobionics Lab
A robust and relatively inexpensive system that can be easily manufactured, assembled, and controlled, with the goal of unifying the research field of prosthetic leg controls. Summary at Wevolver.
Unity-based neural navigation software which uses an OptiTrack Trio 3D camera.
A low cost driving simulator, which can be used to capture driving reaction times under normal conditions and cognitive loads.
Creates manuscript quality Bland-Altman plots from excel data files.
Ford Campus Vision and Lidar Data Set
This dataset is a part of the project active safety situational awareness for automotive vehicles.
North Campus Long-Term Vision and LIDAR Dataset
This dataset was collected over the course of 27 sessions over 16 months.
A toolbox capable of simulating controlled hybrid systems.
Switched System Optimal Control
This toolbox contains a numerical optimal control method for constrained nonlinear switched dynamical systems with input.
Robust Typological Descriptors
This toolbox contains a numerical optimal control method for constrained nonlinear switched dynamical systems with input.