A robot-rat interaction experimental system based on the rat-inspired mobile robot WR-4

Qing Shi, Hiroyuki Ishii, Shogo Fumino, Shinichiro Konno, Shinichi Kinoshita, Atsuo Takanishi, Satoshi Okabayashi, Naritoshi Iida, Hiroshi Kimura

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    4 Citations (Scopus)

    Abstract

    This research proposes to design and develop a novel robot involved in the general and famous animal experimental method called Social Interaction Test (SIT). Aiming at increased movement range of the waist and improved interoperability, we have developed a novel small animaroid robot WR-4 (Waseda Rat No.4). The waist of WR-4 endowed with a multi-bendable 6-bar linkage mechanism makes the robot able to rotate around ±130° horizontally, meeting required movement range. Integrating with a 4-bar linkage mechanism in the neck, this 6-bar linkage mechanism achieves the bending posture as living rats, allowing the imitation of behavior such as rotating. Furthermore, ultrasonic motors (USM) used to drive forelegs greatly reduce the weight of upper body, resulting in quicker acting of rearing behavior. WR-4 consists of 10 active DOFs (two 1-DOF wheels for locomotion, two 2-DOF forelegs for interaction, one 1-DOF neck for swing, one 2-DOF waist for rearing and body grooming and one 1-DOF reserved for tail) and 2 passive DOFs in the paws. The evaluation tests on motion performance show that WR-4 could act both rearing (reaching 60°) and rotating (reaching ±100° respectively) behaviors approximately 0.1s quicker than mature rats. Preliminary SIT between WR-4 and mature rats have been conducted strictly following psychological rules. Experimental results reveal that the frequencies of rearing behavior in rats were increased significantly when WR-4 reared periodically, and the activities of rats were decreased after WR-4 reared.

    Original languageEnglish
    Title of host publication2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
    Pages402-407
    Number of pages6
    DOIs
    Publication statusPublished - 2011
    Event2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket
    Duration: 2011 Dec 72011 Dec 11

    Other

    Other2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
    CityPhuket
    Period11/12/711/12/11

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    ASJC Scopus subject areas

    • Computer Vision and Pattern Recognition

    Cite this

    Shi, Q., Ishii, H., Fumino, S., Konno, S., Kinoshita, S., Takanishi, A., Okabayashi, S., Iida, N., & Kimura, H. (2011). A robot-rat interaction experimental system based on the rat-inspired mobile robot WR-4. In 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 (pp. 402-407). [6181319] https://doi.org/10.1109/ROBIO.2011.6181319