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

12 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
PublisherIEEE Computer Society
Pages847-852
Number of pages6
ISBN (Print)9781424417582
DOIs
Publication statusPublished - 2007 Jan 1
Event2007 IEEE International Conference on Robotics and Biomimetics, ROBIO - Yalong Bay, Sanya, China
Duration: 2007 Dec 152007 Dec 18

Publication series

Name2007 IEEE International Conference on Robotics and Biomimetics, ROBIO

Conference

Conference2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
CountryChina
CityYalong Bay, Sanya
Period07/12/1507/12/18

Keywords

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

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Biomaterials

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  • Cite this

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