TY - JOUR
T1 - Design and Control of a Biomimetic Robotic Rat for Interaction with Laboratory Rats
AU - Shi, Qing
AU - Ishii, Hiroyuki
AU - Sugahara, Yusuke
AU - Takanishi, Atsuo
AU - Huang, Qiang
AU - Fukuda, Toshio
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/8/1
Y1 - 2015/8/1
N2 - In this paper, we describe the system design and control of a miniature robotic rat, WR-5, which is intended to interact with laboratory rats. WR-5 can perform rearing, mounting, rotating, and body-grooming actions as naturally as live mature rats because of its multilink structure. Experimental results confirm that WR-5 can stimulate stressing fear in rats by performing a mounting action, which shows remarkable progress when compared with the previous generation of these robots. Additionally, a virtual impedance model-based control method is used to generate both posture and trajectory for WR-5. The results of simulations and following tests with real rats show that WR-5 can adjust its head and body positioning to follow a target rat in real time. The control system simultaneously allows real-time avoidance of moving outside observers during the following test. Additionally, based on interaction with multiple rats, we conclude that the robotic rat shows great promise for manipulation of the sociality of rats.
AB - In this paper, we describe the system design and control of a miniature robotic rat, WR-5, which is intended to interact with laboratory rats. WR-5 can perform rearing, mounting, rotating, and body-grooming actions as naturally as live mature rats because of its multilink structure. Experimental results confirm that WR-5 can stimulate stressing fear in rats by performing a mounting action, which shows remarkable progress when compared with the previous generation of these robots. Additionally, a virtual impedance model-based control method is used to generate both posture and trajectory for WR-5. The results of simulations and following tests with real rats show that WR-5 can adjust its head and body positioning to follow a target rat in real time. The control system simultaneously allows real-time avoidance of moving outside observers during the following test. Additionally, based on interaction with multiple rats, we conclude that the robotic rat shows great promise for manipulation of the sociality of rats.
KW - Cognitive robotics
KW - mechatronics
KW - mobile robots
KW - motion analysis
KW - motion control
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U2 - 10.1109/TMECH.2014.2356595
DO - 10.1109/TMECH.2014.2356595
M3 - Article
AN - SCOPUS:85027932651
SN - 1083-4435
VL - 20
SP - 1832
EP - 1842
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 4
M1 - 6914558
ER -