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

doi:10.1109/TMECH.2019.2959375

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

^*この研究の対応する著者

創造理工学部

研究成果: Article › 査読

2 被引用数 (Scopus)

抄録

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.

本文言語	English
論文番号	8931642
ページ（範囲）	84-94
ページ数	11
ジャーナル	IEEE/ASME Transactions on Mechatronics
巻	25
号	1
DOI	https://doi.org/10.1109/TMECH.2019.2959375
出版ステータス	Published - 2020 2月

ASJC Scopus subject areas

制御およびシステム工学
コンピュータサイエンスの応用
電子工学および電気工学

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10.1109/TMECH.2019.2959375

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abstract = "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.",

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note = "Funding Information: Manuscript received May 11, 2019; revised November 20, 2019; accepted December 9, 2019. Date of publication December 12, 2019; date of current version February 13, 2020. Recommended by Technical Editor T. Seo. This work was supported in part by the National Natural Science Foundation of China under Grant 61773058, Grant 61627808, and Grant 61933001 and in part by the China Scholarship Council. (Corresponding author: Qing Shi.) C. Li is with the Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China, and also with the Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing 100081, China (e-mail: bit_lc@bit.edu.cn). Publisher Copyright: {\textcopyright} 1996-2012 IEEE.",

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Bioinspired Phase-Shift Turning Action for a Biomimetic Robot

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