Motion evaluation of a modified multi-link robotic rat
Motion evaluation of a modified multi-link robotic rat
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DOI：
10.1109/iros.2017.8206053
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发表时间：
2017-12
期刊：
影响因子：
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通讯作者：
Chang Li;Qing Shi;Kang Li;Mingjie Zou;H. Ishii;A. Takanishi;Qiang Huang;T. Fukuda
中科院分区：
文献类型：
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作者：
Chang Li;Qing Shi;Kang Li;Mingjie Zou;H. Ishii;A. Takanishi;Qiang Huang;T. Fukuda
机器人大鼠与活体大鼠的相互作用试验被认为是定量表征大鼠社会性的一种可能方法。在这种机器人-大鼠互动中，机器人应该被设计成在形态和行为特征方面完全复制真实的大鼠。为了解决这个问题，我们在之前工作的基础上改进了一个多关节机器人原型。我们对机器人前肢进行了优化更新，并重新设计了控制板，使其更加灵巧，提高了其行为能力。然后，采用遍历法对关节变量的旋转范围和机器人的工作空间进行了系统的运动学分析。为了评估改进后的机器人的运动能力，我们提出了两个定量参数：最大可达高度（MRH）和最小弯曲距离（MBD）。此外，我们还利用动态时间规整（DTW）技术，利用计算的累计距离（AD）来定量评价机器人与大鼠之间的行为相似性。这些评估的方法显示出很大的希望，可以改善机器人与大鼠之间的相互作用，使其更接近大鼠与大鼠之间的相互作用。
The interaction test between a robotic rat and living rat is considered as a possible way to quantitatively characterize the rat sociality. In such robot-rat interactions, the robot should be designed to fully replicate a real rat in terms of morphological and behavioral characteristics. To address this problem, a multi-jointed robot prototype has been modified based on our previous work. We optimally update the forelimb of the robot and redesign the control board to make it more dexterous and increase its behavioral capability. Then, we systematically and kinematically analyze the rotational range of joint variables and the workspace of the robot by using traversal method. To evaluate the motion capability of the modified robot, we propose two quantitative parameters: maximum reachable height (MRH) and minimum bendable distance (MBD). Additionally, we achieve to quantitatively evaluate the behavioral similarity between the robot and rat with the calculated accumulative distance (AD) by using dynamic time warping (DTW). These evaluated methods show high promise to improve the robot-rat interaction to be more similar to rat-rat interaction.