Motion evaluation of a modified multi-link robotic rat

Chang Li, Qing Shi, Kang Li, Mingjie Zou, Hiroyuki Ishii, Atsuo Takanishi, Qiang Huang, Toshio Fukuda

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

    3 Citations (Scopus)

    Abstract

    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.

    Original languageEnglish
    Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages2397-2402
    Number of pages6
    Volume2017-September
    ISBN (Electronic)9781538626825
    DOIs
    Publication statusPublished - 2017 Dec 13
    Event2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
    Duration: 2017 Sep 242017 Sep 28

    Other

    Other2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
    CountryCanada
    CityVancouver
    Period17/9/2417/9/28

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

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  • Cite this

    Li, C., Shi, Q., Li, K., Zou, M., Ishii, H., Takanishi, A., Huang, Q., & Fukuda, T. (2017). Motion evaluation of a modified multi-link robotic rat. In IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 2017-September, pp. 2397-2402). [8206053] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2017.8206053