A Modified Robotic Rat to Study Rat-Like Pitch and Yaw Movements

In this paper, we imitated rat-like typical motion primitives (such as pitch and yaw movements) using a modified multijoint robotic rat. We developed a new robotic rat named WR-5M by optimally modifying the hardware system of the previous version. Using a kinematic analysis of the workspace of pitch...

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Bibliographic Details
Published inIEEE/ASME transactions on mechatronics Vol. 23; no. 5; pp. 2448 - 2458
Main Authors Shi, Qing, Li, Chang, Li, Kang, Huang, Qiang, Ishii, Hiroyuki, Takanishi, Atsuo, Fukuda, Toshio
Format Journal Article
LanguageEnglish
Published New York IEEE 01.10.2018
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Bioinspired motion planning
Biomimetics
bomimetic robots
DC motors
Maneuverability
motion measurement
Movement
Optimization
Pitch (inclination)
pitch and yaw movements
Rats
Robotics
Robots
Videos
Yaw
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Summary:In this paper, we imitated rat-like typical motion primitives (such as pitch and yaw movements) using a modified multijoint robotic rat. We developed a new robotic rat named WR-5M by optimally modifying the hardware system of the previous version. Using a kinematic analysis of the workspace of pitch and yaw movements, WR-5M was endowed with a larger movement range than the previous version. To assess the motion performance of WR-5M, we used pitch angle and pitch height to characterize the pitch maneuverability, and the yaw radius and yaw distance to characterize yaw maneuverability. After comparing with a rat, the extrema of the four proposed parameters demonstrated that the robot achieved a high-degree of similarity of extreme pitch and yaw gestures. Additionally, by imitating the whole motion process of four typical behavior patterns, WR-5M was able to implement similar pitch and yaw movements of the rat.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2018.2863269