Implementing Rat-Like Motion for a Small-Sized Biomimetic Robot Based on Extraction of Key Movement Joints

Qing Shi*, Zihang Gao, Guanglu Jia, Chang Li, Qiang Huang, Hiroyuki Ishii, Atsuo Takanishi, Toshio Fukuda

*この研究の対応する著者

研究成果: Article査読

2 被引用数 (Scopus)

抄録

For a small-sized biomimetic robot, it is challenging to mimic animal-like motion with high speed and high flexibility. To enable high flexibility, high stability, and high biomimicry degree for the robotic rat, we drew inspirations from three agile rat movements, namely, the pitch, yaw, and U-turn movements. First, we proposed key movement joints (KMJs) to capture a decent representation of the rat with a reduced-order model. By extracting the primary KMJs, we determined the number and distribution of robotic joints for the design of a bioinspired spine mechanism. Second, to meet the demand of high biomimicry degree, we generated an optimal compensation term to minimize the trajectory error introduced by simplifying the model. Moreover, we calculated the optimal minimum motion cycle based on the constraints of equilibrium under extreme conditions to ensure high flexibility without compromising the stability. Finally, the proposed method was successfully verified through simulation and experimental tests with a robotic rat endowed with the bioinspired spine mechanism.

本文言語English
論文番号9263360
ページ(範囲)747-762
ページ数16
ジャーナルIEEE Transactions on Robotics
37
3
DOI
出版ステータスPublished - 2021 6

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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