Development of a Hybrid Wheel-Legged Mobile Robot WR-3 Designed for the Behavior Analysis of Rats
Development of a Hybrid Wheel-Legged Mobile Robot WR-3 Designed for the Behavior Analysis of Rats
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DOI：
10.1163/016918611x603819
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发表时间：
2011-01-01
影响因子：
2
通讯作者：
Kimura, Hiroshi
中科院分区：
文献类型：
--
作者：
Shi, Qing;Ishii, Hiroyuki;Kimura, Hiroshi
本文介绍了一个生物启发的移动的机器人WR-3（早稻田鼠3号）的设计和开发。该机器人的目的是作为一种实验工具来研究老鼠和机器人之间的社交互动。根据对大鼠运动的分析结果，其行为可分为运动和交互两个阶段。因此，一种新型的混合动力机构，使用车轮在运动阶段和腿，而相互作用的设计，以致动WR-3。因此，机器人可以使用它的轮子以高速移动，并使用它的腿和其他部分再现老鼠的互动行为。根据成年大鼠的身体结构，设计了与成年大鼠相似的尺寸和形状的WR-3，并通过大鼠对机器人和填充鼠的兴趣实验验证了其形状模仿的质量。评估实验表明，WR-3能够再现大鼠的追逐、直立、梳理、爬上等动作，和真实的老鼠相似此外，用活体大鼠进行的初步社会互动测试表明，WR-3在一定程度上能够唤起来自真实的大鼠的自然反应，因此能够进行一定程度的现实互动。(C)Koninklijke Brill NV，莱顿和日本机器人学会，2011年
This paper presents the design and development of a bio-inspired mobile robot called WR-3 (Waseda Rat no. 3). The purpose of the robot is to work as an experimental tool to study social interaction between rats and robots. According to the results of the analysis of the motion of rats, their behavior can be divided into two phases: movement and interaction. Therefore, a novel hybrid mechanism that uses wheels during the movement phase and legs while interacting has been designed to actuate WR-3. Consequently, the robot can move at a high speed using its wheels, and reproduce the rat's interaction behavior using its legs and other parts. Based on body structure of a mature rat, WR-3 has been designed with similar dimensions and shape as a mature rat, and the quality of the shape imitation has been verified by the experiments of a rat's interestingness to the robot and stuffed rat. Evaluation experiments show that WR-3 is capable of reproducing a rat's actions such as chasing, rearing, grooming, mounting, etc., similar to a real rat. Furthermore, preliminary social interaction tests with living rats reveal that WR-3 is to some extent able to evoke natural reactions form a real rat and is therefore able to perform a certain level of realistic interaction. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2011