TY - GEN
T1 - Motion evaluation of a modified multi-link robotic rat
AU - Li, Chang
AU - Shi, Qing
AU - Li, Kang
AU - Zou, Mingjie
AU - Ishii, Hiroyuki
AU - Takanishi, Atsuo
AU - Huang, Qiang
AU - Fukuda, Toshio
N1 - Funding Information:
This work was supported in part by the National Natural Science Foundation of China (NSFC) under grant no. 61403032 and 61627808, the Open Research Fund Program of Beijing Key Laboratory of Robot Bionics and Function Research, and Beijing Nova Program under grant no. Z161100004916071.
PY - 2017/12/13
Y1 - 2017/12/13
N2 - The interaction test between a robotic rat and living rat is considered as a possible way to quantitatively characterize the rat sociality. In such robot-rat interactions, the robot should be designed to fully replicate a real rat in terms of morphological and behavioral characteristics. To address this problem, a multi-jointed robot prototype has been modified based on our previous work. We optimally update the forelimb of the robot and redesign the control board to make it more dexterous and increase its behavioral capability. Then, we systematically and kinematically analyze the rotational range of joint variables and the workspace of the robot by using traversal method. To evaluate the motion capability of the modified robot, we propose two quantitative parameters: maximum reachable height (MRH) and minimum bendable distance (MBD). Additionally, we achieve to quantitatively evaluate the behavioral similarity between the robot and rat with the calculated accumulative distance (AD) by using dynamic time warping (DTW). These evaluated methods show high promise to improve the robot-rat interaction to be more similar to rat-rat interaction.
AB - The interaction test between a robotic rat and living rat is considered as a possible way to quantitatively characterize the rat sociality. In such robot-rat interactions, the robot should be designed to fully replicate a real rat in terms of morphological and behavioral characteristics. To address this problem, a multi-jointed robot prototype has been modified based on our previous work. We optimally update the forelimb of the robot and redesign the control board to make it more dexterous and increase its behavioral capability. Then, we systematically and kinematically analyze the rotational range of joint variables and the workspace of the robot by using traversal method. To evaluate the motion capability of the modified robot, we propose two quantitative parameters: maximum reachable height (MRH) and minimum bendable distance (MBD). Additionally, we achieve to quantitatively evaluate the behavioral similarity between the robot and rat with the calculated accumulative distance (AD) by using dynamic time warping (DTW). These evaluated methods show high promise to improve the robot-rat interaction to be more similar to rat-rat interaction.
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U2 - 10.1109/IROS.2017.8206053
DO - 10.1109/IROS.2017.8206053
M3 - Conference contribution
AN - SCOPUS:85041952373
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2397
EP - 2402
BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Y2 - 24 September 2017 through 28 September 2017
ER -