TY - GEN
T1 - A robot-rat interaction experimental system based on the rat-inspired mobile robot WR-4
AU - Shi, Qing
AU - Ishii, Hiroyuki
AU - Fumino, Shogo
AU - Konno, Shinichiro
AU - Kinoshita, Shinichi
AU - Takanishi, Atsuo
AU - Okabayashi, Satoshi
AU - Iida, Naritoshi
AU - Kimura, Hiroshi
PY - 2011
Y1 - 2011
N2 - This research proposes to design and develop a novel robot involved in the general and famous animal experimental method called Social Interaction Test (SIT). Aiming at increased movement range of the waist and improved interoperability, we have developed a novel small animaroid robot WR-4 (Waseda Rat No.4). The waist of WR-4 endowed with a multi-bendable 6-bar linkage mechanism makes the robot able to rotate around ±130° horizontally, meeting required movement range. Integrating with a 4-bar linkage mechanism in the neck, this 6-bar linkage mechanism achieves the bending posture as living rats, allowing the imitation of behavior such as rotating. Furthermore, ultrasonic motors (USM) used to drive forelegs greatly reduce the weight of upper body, resulting in quicker acting of rearing behavior. WR-4 consists of 10 active DOFs (two 1-DOF wheels for locomotion, two 2-DOF forelegs for interaction, one 1-DOF neck for swing, one 2-DOF waist for rearing and body grooming and one 1-DOF reserved for tail) and 2 passive DOFs in the paws. The evaluation tests on motion performance show that WR-4 could act both rearing (reaching 60°) and rotating (reaching ±100° respectively) behaviors approximately 0.1s quicker than mature rats. Preliminary SIT between WR-4 and mature rats have been conducted strictly following psychological rules. Experimental results reveal that the frequencies of rearing behavior in rats were increased significantly when WR-4 reared periodically, and the activities of rats were decreased after WR-4 reared.
AB - This research proposes to design and develop a novel robot involved in the general and famous animal experimental method called Social Interaction Test (SIT). Aiming at increased movement range of the waist and improved interoperability, we have developed a novel small animaroid robot WR-4 (Waseda Rat No.4). The waist of WR-4 endowed with a multi-bendable 6-bar linkage mechanism makes the robot able to rotate around ±130° horizontally, meeting required movement range. Integrating with a 4-bar linkage mechanism in the neck, this 6-bar linkage mechanism achieves the bending posture as living rats, allowing the imitation of behavior such as rotating. Furthermore, ultrasonic motors (USM) used to drive forelegs greatly reduce the weight of upper body, resulting in quicker acting of rearing behavior. WR-4 consists of 10 active DOFs (two 1-DOF wheels for locomotion, two 2-DOF forelegs for interaction, one 1-DOF neck for swing, one 2-DOF waist for rearing and body grooming and one 1-DOF reserved for tail) and 2 passive DOFs in the paws. The evaluation tests on motion performance show that WR-4 could act both rearing (reaching 60°) and rotating (reaching ±100° respectively) behaviors approximately 0.1s quicker than mature rats. Preliminary SIT between WR-4 and mature rats have been conducted strictly following psychological rules. Experimental results reveal that the frequencies of rearing behavior in rats were increased significantly when WR-4 reared periodically, and the activities of rats were decreased after WR-4 reared.
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U2 - 10.1109/ROBIO.2011.6181319
DO - 10.1109/ROBIO.2011.6181319
M3 - Conference contribution
AN - SCOPUS:84860770229
SN - 9781457721373
T3 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
SP - 402
EP - 407
BT - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
T2 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Y2 - 7 December 2011 through 11 December 2011
ER -