Biomechatronic design and development of a legged rat robot

Francesco Patanè, Virgilio Mattoli, Cecilia Laschi, Barbara Mazzolai, Paolo Dario, Hiroyuki Ishii, Atsuo Takanishi

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

    10 Citations (Scopus)

    Abstract

    This paper describes the biomechatronic design of a legged rat robot, to be used in experiments on rat behavior. The rat robot has been designed so as to possess leg and body motion similar to those of real rats and to show the capability of rat-like simple behaviors, like walking and pushing a lever. The rat robot has 4 legs with 3 DOF (2 active and 1 passive) for each leg and 1 additional DOF allowing robot spine torsion. A cable and pulley mechanism allows the two front legs of the robot to perform manipulation tasks like pushing levers and buttons in a smooth and natural way, as not only the geometry and mass of the legs are similar to those of real rats, but also because the cables act, from an anatomical and physiological point of view, like the triceps muscle with the knee tendon structure. An interaction experiment, using our rat robot and two different real rats (control and experimental subject) has been conducted to verify the capability of the robotic rat to interact and teach simple tasks to the real rat.

    Original languageEnglish
    Title of host publication2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
    Pages847-852
    Number of pages6
    DOIs
    Publication statusPublished - 2008
    Event2007 IEEE International Conference on Robotics and Biomimetics, ROBIO - Yalong Bay, Sanya
    Duration: 2007 Dec 152007 Dec 18

    Other

    Other2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
    CityYalong Bay, Sanya
    Period07/12/1507/12/18

    Fingerprint

    Rats
    Robots
    Cables
    Rat control
    Pulleys
    Tendons
    Torsional stress
    Muscle
    Robotics
    Experiments
    Geometry

    Keywords

    • Animal-robot interaction
    • Bioinspired robotics
    • Bioroboties
    • Legged robot
    • Rat robot

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Control and Systems Engineering
    • Biomaterials

    Cite this

    Patanè, F., Mattoli, V., Laschi, C., Mazzolai, B., Dario, P., Ishii, H., & Takanishi, A. (2008). Biomechatronic design and development of a legged rat robot. In 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO (pp. 847-852). [4522273] https://doi.org/10.1109/ROBIO.2007.4522273

    Biomechatronic design and development of a legged rat robot. / Patanè, Francesco; Mattoli, Virgilio; Laschi, Cecilia; Mazzolai, Barbara; Dario, Paolo; Ishii, Hiroyuki; Takanishi, Atsuo.

    2007 IEEE International Conference on Robotics and Biomimetics, ROBIO. 2008. p. 847-852 4522273.

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

    Patanè, F, Mattoli, V, Laschi, C, Mazzolai, B, Dario, P, Ishii, H & Takanishi, A 2008, Biomechatronic design and development of a legged rat robot. in 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO., 4522273, pp. 847-852, 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, Yalong Bay, Sanya, 07/12/15. https://doi.org/10.1109/ROBIO.2007.4522273
    Patanè F, Mattoli V, Laschi C, Mazzolai B, Dario P, Ishii H et al. Biomechatronic design and development of a legged rat robot. In 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO. 2008. p. 847-852. 4522273 https://doi.org/10.1109/ROBIO.2007.4522273
    Patanè, Francesco ; Mattoli, Virgilio ; Laschi, Cecilia ; Mazzolai, Barbara ; Dario, Paolo ; Ishii, Hiroyuki ; Takanishi, Atsuo. / Biomechatronic design and development of a legged rat robot. 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO. 2008. pp. 847-852
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