Abstract
In this paper, we imitated rat-like typical motion primitives (such as yaw and pitch movements) using a modified multi-joint robotic rat. We developed a new robotic rat named WR-5M by optimally modifying the hardware system of the previous version. Using a kinematic analysis of the workspace of pitch and yaw movements, WR-5M was endowed with a larger movement range than the previous version. To assess the motion performance of WR-5M, we used pitch angle and pitch height to characterize the pitch maneuverability, and the yaw radius and yaw distance to characterize yaw maneuverability. After comparing with a rat, the extrema of the four proposed parameters demonstrated that the robot achieved a high-degree of similarity of extreme pitch and yaw gestures. Additionally, by imitating the whole motion process of four typical behavior patterns, WR-5M was able to implement similar pitch and yaw movements of the rat.
| Original language | English |
|---|---|
| Journal | IEEE/ASME Transactions on Mechatronics |
| DOIs | |
| Publication status | Accepted/In press - 2018 Aug 3 |
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Keywords
- Biomimetics
- DC motors
- Optimization
- Rats
- Robots
- Videos
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering
Cite this
A Modified Robotic Rat to Study Rat-like Pitch and Yaw Movements. / Shi, Qing; Li, Chang; Li, Kang; Huang, Qiang; Ishii, Hiroyuki; Takanishi, Atsuo; Fukuda, Toshio.
In: IEEE/ASME Transactions on Mechatronics, 03.08.2018.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - A Modified Robotic Rat to Study Rat-like Pitch and Yaw Movements
AU - Shi, Qing
AU - Li, Chang
AU - Li, Kang
AU - Huang, Qiang
AU - Ishii, Hiroyuki
AU - Takanishi, Atsuo
AU - Fukuda, Toshio
PY - 2018/8/3
Y1 - 2018/8/3
N2 - In this paper, we imitated rat-like typical motion primitives (such as yaw and pitch movements) using a modified multi-joint robotic rat. We developed a new robotic rat named WR-5M by optimally modifying the hardware system of the previous version. Using a kinematic analysis of the workspace of pitch and yaw movements, WR-5M was endowed with a larger movement range than the previous version. To assess the motion performance of WR-5M, we used pitch angle and pitch height to characterize the pitch maneuverability, and the yaw radius and yaw distance to characterize yaw maneuverability. After comparing with a rat, the extrema of the four proposed parameters demonstrated that the robot achieved a high-degree of similarity of extreme pitch and yaw gestures. Additionally, by imitating the whole motion process of four typical behavior patterns, WR-5M was able to implement similar pitch and yaw movements of the rat.
AB - In this paper, we imitated rat-like typical motion primitives (such as yaw and pitch movements) using a modified multi-joint robotic rat. We developed a new robotic rat named WR-5M by optimally modifying the hardware system of the previous version. Using a kinematic analysis of the workspace of pitch and yaw movements, WR-5M was endowed with a larger movement range than the previous version. To assess the motion performance of WR-5M, we used pitch angle and pitch height to characterize the pitch maneuverability, and the yaw radius and yaw distance to characterize yaw maneuverability. After comparing with a rat, the extrema of the four proposed parameters demonstrated that the robot achieved a high-degree of similarity of extreme pitch and yaw gestures. Additionally, by imitating the whole motion process of four typical behavior patterns, WR-5M was able to implement similar pitch and yaw movements of the rat.
KW - Biomimetics
KW - DC motors
KW - Optimization
KW - Rats
KW - Robots
KW - Videos
UR - http://www.scopus.com/inward/record.url?scp=85051045476&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85051045476&partnerID=8YFLogxK
U2 - 10.1109/TMECH.2018.2863269
DO - 10.1109/TMECH.2018.2863269
M3 - Article
AN - SCOPUS:85051045476
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
SN - 1083-4435
ER -