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
N1 - Funding Information:
Manuscript received September 17, 2017; revised March 21, 2018 and July 2, 2018; accepted July 29, 2018. Date of publication August 6, 2018; date of current version October 15, 2018. Recommended by Technical Editor Sukho Park. This work was supported by the National Natural Science Foundation of China under Grant 61773058 and Grant 61627808. (Corresponding author: Qing Shi.) Q. Shi, C. Li, K. Li, Q. Huang, and T. Fukuda are with the Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing 100081, China, and also with the Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing 100081, China (e-mail: shiqing@ bit.edu.cn; bit_lc@bit.edu.cn; likang0063@163.com; qhuang@bit.edu. cn; tofukuda@nifty.com).
Publisher Copyright:
© 1996-2012 IEEE.
PY - 2018/10
Y1 - 2018/10
N2 - In this paper, we imitated rat-like typical motion primitives (such as pitch and yaw movements) using a modified multijoint 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 pitch and yaw movements) using a modified multijoint 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 - Bioinspired motion planning
KW - bomimetic robots
KW - motion measurement
KW - pitch and yaw movements
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U2 - 10.1109/TMECH.2018.2863269
DO - 10.1109/TMECH.2018.2863269
M3 - Article
AN - SCOPUS:85051045476
VL - 23
SP - 2448
EP - 2458
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
SN - 1083-4435
IS - 5
M1 - 8425785
ER -