Development of the hybrid wheel-legged mobile robot WR-3 designed to interact with rats

Qing Shi, Shunsyuke Miyagishima, Shinichiro Konno, Shogo Fumino, Hiroyuki Ishii, Atsuo Takanishi, Cecilia Laschi, Barbara Mazzolai, Virgilio Mattoli, Paolo Dario

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

    7 Citations (Scopus)

    Abstract

    This paper presents the design and development of a bio-inspired mobile robot called WR-3 (Waseda Rat No.3), as an experimental tool to study social interaction between rats and robots. According to the motion analysis of rats, their motion can be divided into two phases: moving and interaction. Therefore, a novel hybrid mechanism in which wheels are used for moving and legs are used for interaction has been designed to actuate the WR-3. Consequently, the robot can move at a high speed using its wheels and reproduce the rats' interaction using its legs and other parts. Based on the dimension and body structure of a mature rat, WR-3 has been designed with dimensions of 240×70×90[mm] and is the same shape as a rat. It consists of 18 DOFs in total: two 1-DOF wheels, four 3-DOF legs (including passive DOFs), a 2-DOF waist, and a 2-DOF neck. Preliminary interaction experiments with rats demonstrate that WR-3 is capable of reproducing interactions such as following, rearing, grooming, mounting, etc. similar to a real rat.

    Original languageEnglish
    Title of host publication2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
    Pages887-892
    Number of pages6
    DOIs
    Publication statusPublished - 2010
    Event2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 - Tokyo
    Duration: 2010 Sep 262010 Sep 29

    Other

    Other2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
    CityTokyo
    Period10/9/2610/9/29

    Fingerprint

    Mobile robots
    Rats
    Wheels
    Robots
    Mountings

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Biomedical Engineering

    Cite this

    Shi, Q., Miyagishima, S., Konno, S., Fumino, S., Ishii, H., Takanishi, A., ... Dario, P. (2010). Development of the hybrid wheel-legged mobile robot WR-3 designed to interact with rats. In 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 (pp. 887-892). [5627719] https://doi.org/10.1109/BIOROB.2010.5627719

    Development of the hybrid wheel-legged mobile robot WR-3 designed to interact with rats. / Shi, Qing; Miyagishima, Shunsyuke; Konno, Shinichiro; Fumino, Shogo; Ishii, Hiroyuki; Takanishi, Atsuo; Laschi, Cecilia; Mazzolai, Barbara; Mattoli, Virgilio; Dario, Paolo.

    2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010. 2010. p. 887-892 5627719.

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

    Shi, Q, Miyagishima, S, Konno, S, Fumino, S, Ishii, H, Takanishi, A, Laschi, C, Mazzolai, B, Mattoli, V & Dario, P 2010, Development of the hybrid wheel-legged mobile robot WR-3 designed to interact with rats. in 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010., 5627719, pp. 887-892, 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010, Tokyo, 10/9/26. https://doi.org/10.1109/BIOROB.2010.5627719
    Shi Q, Miyagishima S, Konno S, Fumino S, Ishii H, Takanishi A et al. Development of the hybrid wheel-legged mobile robot WR-3 designed to interact with rats. In 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010. 2010. p. 887-892. 5627719 https://doi.org/10.1109/BIOROB.2010.5627719
    Shi, Qing ; Miyagishima, Shunsyuke ; Konno, Shinichiro ; Fumino, Shogo ; Ishii, Hiroyuki ; Takanishi, Atsuo ; Laschi, Cecilia ; Mazzolai, Barbara ; Mattoli, Virgilio ; Dario, Paolo. / Development of the hybrid wheel-legged mobile robot WR-3 designed to interact with rats. 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010. 2010. pp. 887-892
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    AU - Takanishi, Atsuo

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