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 - Publisher Copyright:
IEEE
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2020
Y1 - 2020
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 - biologically inspired robots
KW - Biomimetics
KW - Biomimetics
KW - Gears
KW - key movement joints (KMJs)
KW - motion control
KW - Rats
KW - Robot kinematics
KW - Robots
KW - Stability criteria
KW - Trajectory
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U2 - 10.1109/TRO.2020.3033705
DO - 10.1109/TRO.2020.3033705
M3 - Article
AN - SCOPUS:85097174549
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
SN - 1552-3098
ER -