Bioinspired Phase-Shift Turning Action for a Biomimetic Robot

Chang Li, Qing Shi*, Zihang Gao, Mengchao Ma, Qiang Huang, Hiroyuki Ishii, Atsuo Takanishi, Toshio Fukuda

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


The capability of performing animal-like turning action is very important for a biomimetic robot to be used in realistic world. Although the existed biomimetic robots can imitate turning actions of their counterparts, it is still lacking an effective approach to generate bioinspired turning action of small quadruped animals. To solve this problem, we proposed an effective phase-shift-based motion planning method after systematically analyzing and mathematically modeling the turning action of laboratory rats. Moreover, we introduced an N-step turning strategy to allow the biomimetic robot effectively perform animallike turning action regardless of joint limits. We characterized the action similarity between rats and a rat-inspired robot in terms of joint trajectory and their envelope. The robot is able to closely follow the turning action of rats since the difference of turning angle is less than 7.95. Additionally, the width distribution of trajectory envelope between the robot and rat is quite similar. The proposed turning model can be easily extended to biomimetic robots inspired by other small quadruped mammals, which share similar turning patterns to rats.

Original languageEnglish
Article number8931642
Pages (from-to)84-94
Number of pages11
JournalIEEE/ASME Transactions on Mechatronics
Issue number1
Publication statusPublished - 2020 Feb


  • Biomimetic
  • biorobotics
  • multijoint robot
  • phase shift
  • turning

ASJC Scopus subject areas

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


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