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

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

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

30 Citations (Scopus)


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.

Original languageEnglish
Article number8425785
Pages (from-to)2448-2458
Number of pages11
JournalIEEE/ASME Transactions on Mechatronics
Issue number5
Publication statusPublished - 2018 Oct


  • Bioinspired motion planning
  • bomimetic robots
  • motion measurement
  • pitch and yaw movements

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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