Control of posture and trajectory for a rat-like robot interacting with multiple real rats

Qing Shi, Hiroyuki Ishii, Yusuke Sugahara, Shinichi Kinoshita, Atsuo Takanishi, Satoshi Okabayashi, Qiang Huang, Toshio Fukuda

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

    Abstract

    In the past we achieved to use a rat-like robot and a single rat to develop Animal Models of Mental Disorder (AMMDs) through stress exposure. However, to simulate the real social environment, we use a rat-like robot composed of multiple links to chase a specific rat (target) in a group of rats (outside observers). In this paper, we aim to develop a real-time control system for a multi-link robot surrounded by multiple rats. A virtual impedance model was adopted to generate posture and trajectory for a multi-link robot named WR-5. With the analysis of virtual forces/moments acting on WR-5 based on the model, corresponding dynamic equations can be obtained to control the motion of WR-5. Simulation results show that the head of WR-5 can accurately direct a target object in the following test. After conducting experiments with three rat subjects (a target rat, two outside observers), the output results suggest that the head and body gesture of WR-5 achieves to follow the target in real-time. Meanwhile, the control system allows real-time avoidance of the moving outside observers during interaction.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages975-980
    Number of pages6
    DOIs
    Publication statusPublished - 2014 Sep 22
    Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
    Duration: 2014 May 312014 Jun 7

    Other

    Other2014 IEEE International Conference on Robotics and Automation, ICRA 2014
    CountryChina
    CityHong Kong
    Period14/5/3114/6/7

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    ASJC Scopus subject areas

    • Software
    • Artificial Intelligence
    • Control and Systems Engineering
    • Electrical and Electronic Engineering

    Cite this

    Shi, Q., Ishii, H., Sugahara, Y., Kinoshita, S., Takanishi, A., Okabayashi, S., Huang, Q., & Fukuda, T. (2014). Control of posture and trajectory for a rat-like robot interacting with multiple real rats. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 975-980). [6906972] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6906972