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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >A Modified Robotic Rat to Study Rat-Like Pitch and Yaw Movements
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A Modified Robotic Rat to Study Rat-Like Pitch and Yaw Movements

机译：一种改进的机器人大鼠，研究像鼠的俯仰和偏航运动

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摘要

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.
机译：在本文中，我们使用改进的多关节机器人老鼠模仿了老鼠般的典型运动原语（例如俯仰和偏航运动）。通过优化修改先前版本的硬件系统，我们开发了一只名为WR-5M的新型机器猫。通过对俯仰和偏航运动工作区的运动学分析，WR-5M的运动范围比以前的版本大。为了评估WR-5M的运动性能，我们使用俯仰角和俯仰高度来表征俯仰机动性，并使用偏航半径和偏航距离来表征偏航机动性。与老鼠进行比较后，提出的四个参数的极值表明该机器人实现了极端俯仰和偏航手势的高度相似性。此外，通过模仿四种典型行为模式的整个运动过程，WR-5M能够实现大鼠类似的俯仰和偏航运动。

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  • 来源
    《Mechatronics, IEEE/ASME Transactions on》 |2018年第5期|2448-2458|共11页
  • 作者

    Qing Shi; Chang Li; Kang Li; Qiang Huang; Hiroyuki Ishii; Atsuo Takanishi; Toshio Fukuda;

  • 作者单位

    Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China;

    Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China;

    Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China;

    Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China;

    Faculty of Science and Engineering, Waseda University, Tokyo, Japan;

    Faculty of Science and Engineering, Waseda University, Tokyo, Japan;

    Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Rats; Robots; DC motors; Biomimetics; Videos; Optimization;

    机译：大鼠;机器人;直流电动机;仿生;视频;优化;

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