Biomechatronic design and development of a legged rat robot

Francesco Patanè*, Virgilio Mattoli, Cecilia Laschi, Barbara Mazzolai, Paolo Dario, Hiroyuki Ishii, Atsuo Takanishi

*この研究の対応する著者

研究成果: Conference contribution

12 被引用数 (Scopus)

抄録

This paper describes the biomechatronic design of a legged rat robot, to be used in experiments on rat behavior. The rat robot has been designed so as to possess leg and body motion similar to those of real rats and to show the capability of rat-like simple behaviors, like walking and pushing a lever. The rat robot has 4 legs with 3 DOF (2 active and 1 passive) for each leg and 1 additional DOF allowing robot spine torsion. A cable and pulley mechanism allows the two front legs of the robot to perform manipulation tasks like pushing levers and buttons in a smooth and natural way, as not only the geometry and mass of the legs are similar to those of real rats, but also because the cables act, from an anatomical and physiological point of view, like the triceps muscle with the knee tendon structure. An interaction experiment, using our rat robot and two different real rats (control and experimental subject) has been conducted to verify the capability of the robotic rat to interact and teach simple tasks to the real rat.

本文言語English
ホスト出版物のタイトル2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
出版社IEEE Computer Society
ページ847-852
ページ数6
ISBN(印刷版)9781424417582
DOI
出版ステータスPublished - 2007 1 1
イベント2007 IEEE International Conference on Robotics and Biomimetics, ROBIO - Yalong Bay, Sanya, China
継続期間: 2007 12 152007 12 18

出版物シリーズ

名前2007 IEEE International Conference on Robotics and Biomimetics, ROBIO

Conference

Conference2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
国/地域China
CityYalong Bay, Sanya
Period07/12/1507/12/18

ASJC Scopus subject areas

  • 人工知能
  • 制御およびシステム工学
  • 生体材料

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