TY - GEN
T1 - Control of posture and trajectory for a rat-like robot interacting with multiple real rats
AU - Shi, Qing
AU - Ishii, Hiroyuki
AU - Sugahara, Yusuke
AU - Kinoshita, Shinichi
AU - Takanishi, Atsuo
AU - Okabayashi, Satoshi
AU - Huang, Qiang
AU - Fukuda, Toshio
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - In the past we achieved to use a rat-like robot and a single rat to develop Animal Models of Mental Disorder (AMMDs) through stress exposure. However, to simulate the real social environment, we use a rat-like robot composed of multiple links to chase a specific rat (target) in a group of rats (outside observers). In this paper, we aim to develop a real-time control system for a multi-link robot surrounded by multiple rats. A virtual impedance model was adopted to generate posture and trajectory for a multi-link robot named WR-5. With the analysis of virtual forces/moments acting on WR-5 based on the model, corresponding dynamic equations can be obtained to control the motion of WR-5. Simulation results show that the head of WR-5 can accurately direct a target object in the following test. After conducting experiments with three rat subjects (a target rat, two outside observers), the output results suggest that the head and body gesture of WR-5 achieves to follow the target in real-time. Meanwhile, the control system allows real-time avoidance of the moving outside observers during interaction.
AB - In the past we achieved to use a rat-like robot and a single rat to develop Animal Models of Mental Disorder (AMMDs) through stress exposure. However, to simulate the real social environment, we use a rat-like robot composed of multiple links to chase a specific rat (target) in a group of rats (outside observers). In this paper, we aim to develop a real-time control system for a multi-link robot surrounded by multiple rats. A virtual impedance model was adopted to generate posture and trajectory for a multi-link robot named WR-5. With the analysis of virtual forces/moments acting on WR-5 based on the model, corresponding dynamic equations can be obtained to control the motion of WR-5. Simulation results show that the head of WR-5 can accurately direct a target object in the following test. After conducting experiments with three rat subjects (a target rat, two outside observers), the output results suggest that the head and body gesture of WR-5 achieves to follow the target in real-time. Meanwhile, the control system allows real-time avoidance of the moving outside observers during interaction.
UR - http://www.scopus.com/inward/record.url?scp=84929166147&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6906972
DO - 10.1109/ICRA.2014.6906972
M3 - Conference contribution
AN - SCOPUS:84929166147
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 975
EP - 980
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -
