Control of posture and trajectory for a rat-like robot interacting with multiple real rats

Qing Shi, Hiroyuki Ishii, Yusuke Sugahara, Shinichi Kinoshita, Atsuo Takanishi, Satoshi Okabayashi, Qiang Huang, Toshio Fukuda

    研究成果: Conference contribution

    抜粋

    In the past we achieved to use a rat-like robot and a single rat to develop Animal Models of Mental Disorder (AMMDs) through stress exposure. However, to simulate the real social environment, we use a rat-like robot composed of multiple links to chase a specific rat (target) in a group of rats (outside observers). In this paper, we aim to develop a real-time control system for a multi-link robot surrounded by multiple rats. A virtual impedance model was adopted to generate posture and trajectory for a multi-link robot named WR-5. With the analysis of virtual forces/moments acting on WR-5 based on the model, corresponding dynamic equations can be obtained to control the motion of WR-5. Simulation results show that the head of WR-5 can accurately direct a target object in the following test. After conducting experiments with three rat subjects (a target rat, two outside observers), the output results suggest that the head and body gesture of WR-5 achieves to follow the target in real-time. Meanwhile, the control system allows real-time avoidance of the moving outside observers during interaction.

    元の言語English
    ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
    出版者Institute of Electrical and Electronics Engineers Inc.
    ページ975-980
    ページ数6
    DOI
    出版物ステータスPublished - 2014 9 22
    イベント2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
    継続期間: 2014 5 312014 6 7

    Other

    Other2014 IEEE International Conference on Robotics and Automation, ICRA 2014
    China
    Hong Kong
    期間14/5/3114/6/7

    ASJC Scopus subject areas

    • Software
    • Artificial Intelligence
    • Control and Systems Engineering
    • Electrical and Electronic Engineering

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  • これを引用

    Shi, Q., Ishii, H., Sugahara, Y., Kinoshita, S., Takanishi, A., Okabayashi, S., Huang, Q., & Fukuda, T. (2014). Control of posture and trajectory for a rat-like robot interacting with multiple real rats. : Proceedings - IEEE International Conference on Robotics and Automation (pp. 975-980). [6906972] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6906972