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

doi:10.1109/IROS.2017.8206053

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 proceeding › Conference 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 language	English
Title of host publication	IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2397-2402
Number of pages	6
Volume	2017-September
ISBN (Electronic)	9781538626825
DOIs	https://doi.org/10.1109/IROS.2017.8206053
Publication status	Published - 2017 Dec 13
Event	2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada Duration: 2017 Sep 24 → 2017 Sep 28

Other

Other	2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Country	Canada
City	Vancouver
Period	17/9/24 → 17/9/28

ASJC Scopus subject areas

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

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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

Motion evaluation of a modified multi-link robotic rat. / Li, Chang; Shi, Qing; Li, Kang; Zou, Mingjie; Ishii, Hiroyuki ; Takanishi, Atsuo; Huang, Qiang; Fukuda, Toshio.

IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2017-September Institute of Electrical and Electronics Engineers Inc., 2017. p. 2397-2402 8206053.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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, 8206053, Institute of Electrical and Electronics Engineers Inc., pp. 2397-2402, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, Canada, 17/9/24. https://doi.org/10.1109/IROS.2017.8206053

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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.",

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