TY - JOUR
T1 - Implementing Rat-Like Motion for a Small-Sized Biomimetic Robot Based on Extraction of Key Movement Joints
AU - Shi, Qing
AU - Gao, Zihang
AU - Jia, Guanglu
AU - Li, Chang
AU - Huang, Qiang
AU - Ishii, Hiroyuki
AU - Takanishi, Atsuo
AU - Fukuda, Toshio
N1 - Funding Information:
Manuscript received January 11, 2020; revised June 12, 2020 and September 25, 2020; accepted October 20, 2020. Date of publication November 18, 2020; date of current version June 4, 2021. This work was supported in part by the National Natural Science Foundation of China under Grant 61773058 and Grant 61627808 and in part by the National Key R&D Program of China under Grant 2017YFE0117000. This article was recommended for publication by Associate Editor P. C. Lin and Editor A. Billard upon evaluation of the reviewers’ comments. (Corresponding author: Qing Shi.) Qing Shi, Zihang Gao, Guanglu Jia, and Chang Li are with the Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing 100081, China, and Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China (e-mail: shiqing@bit.edu.cn; gzh.zhg@163.com; jgl691@126.com; bit_lc@bit.edu.cn).
Publisher Copyright:
© 2004-2012 IEEE.
PY - 2021/6
Y1 - 2021/6
N2 - For a small-sized biomimetic robot, it is challenging to mimic animal-like motion with high speed and high flexibility. To enable high flexibility, high stability, and high biomimicry degree for the robotic rat, we drew inspirations from three agile rat movements, namely, the pitch, yaw, and U-turn movements. First, we proposed key movement joints (KMJs) to capture a decent representation of the rat with a reduced-order model. By extracting the primary KMJs, we determined the number and distribution of robotic joints for the design of a bioinspired spine mechanism. Second, to meet the demand of high biomimicry degree, we generated an optimal compensation term to minimize the trajectory error introduced by simplifying the model. Moreover, we calculated the optimal minimum motion cycle based on the constraints of equilibrium under extreme conditions to ensure high flexibility without compromising the stability. Finally, the proposed method was successfully verified through simulation and experimental tests with a robotic rat endowed with the bioinspired spine mechanism.
AB - For a small-sized biomimetic robot, it is challenging to mimic animal-like motion with high speed and high flexibility. To enable high flexibility, high stability, and high biomimicry degree for the robotic rat, we drew inspirations from three agile rat movements, namely, the pitch, yaw, and U-turn movements. First, we proposed key movement joints (KMJs) to capture a decent representation of the rat with a reduced-order model. By extracting the primary KMJs, we determined the number and distribution of robotic joints for the design of a bioinspired spine mechanism. Second, to meet the demand of high biomimicry degree, we generated an optimal compensation term to minimize the trajectory error introduced by simplifying the model. Moreover, we calculated the optimal minimum motion cycle based on the constraints of equilibrium under extreme conditions to ensure high flexibility without compromising the stability. Finally, the proposed method was successfully verified through simulation and experimental tests with a robotic rat endowed with the bioinspired spine mechanism.
KW - Biomimetics
KW - biologically inspired robots
KW - key movement joints (KMJs)
KW - motion control
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U2 - 10.1109/TRO.2020.3033705
DO - 10.1109/TRO.2020.3033705
M3 - Article
AN - SCOPUS:85097174549
VL - 37
SP - 747
EP - 762
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
SN - 1552-3098
IS - 3
M1 - 9263360
ER -