TY - GEN
T1 - Design and control of a miniature quadruped rat-inspired robot
AU - Wang, Shengjie
AU - Shi, Qing
AU - Gao, Junhui
AU - Wang, Yuxuan
AU - Meng, Fansheng
AU - Li, Chang
AU - Huang, Qiang
AU - Fukuda, Toshio
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - Robot-rat interaction test is a promising way to characterize the animal sociality for biomedical application. However, currently developed robotic rats are mostly driven by wheels, resulting in limited movement agility. It is an arduous task to realize both the morphology and functionality of rat limbs within restricted dimension. In this specified scale, it is not only difficult to design efficient mechanism to achieve high-speed movement but also difficult to integrate many actuated joints to accomplish multiple motion modes. To address these problems, we modularly designed a miniature quadruped robot making full use of connecting rod mechanism to mimic rat limbs. To generate bio-inspired quadruped gait by using a compact control board, we developed a locomotion controller based on central pattern generators (CPG). Together with particle swarm optimization (PSO) algorithm, the stride frequency and length can be adjusted by parameters. Both simulation and experimental tests show that our quadruped rat-inspired robot is able to implement three motion modes. 1) Crouch-standing action: the robotic rat is able to stand up from initial state (kneeling action) without manual support. 2) Forward walking: the robot reaches a maximum speed of 10cm/s. 3) Turning action: the robotic rat has a small turning radius of 12 cm that is only half of its body length. The outperformance of this robotic rat show high promises in performing natural robot-rat interaction in future.
AB - Robot-rat interaction test is a promising way to characterize the animal sociality for biomedical application. However, currently developed robotic rats are mostly driven by wheels, resulting in limited movement agility. It is an arduous task to realize both the morphology and functionality of rat limbs within restricted dimension. In this specified scale, it is not only difficult to design efficient mechanism to achieve high-speed movement but also difficult to integrate many actuated joints to accomplish multiple motion modes. To address these problems, we modularly designed a miniature quadruped robot making full use of connecting rod mechanism to mimic rat limbs. To generate bio-inspired quadruped gait by using a compact control board, we developed a locomotion controller based on central pattern generators (CPG). Together with particle swarm optimization (PSO) algorithm, the stride frequency and length can be adjusted by parameters. Both simulation and experimental tests show that our quadruped rat-inspired robot is able to implement three motion modes. 1) Crouch-standing action: the robotic rat is able to stand up from initial state (kneeling action) without manual support. 2) Forward walking: the robot reaches a maximum speed of 10cm/s. 3) Turning action: the robotic rat has a small turning radius of 12 cm that is only half of its body length. The outperformance of this robotic rat show high promises in performing natural robot-rat interaction in future.
UR - http://www.scopus.com/inward/record.url?scp=85074277755&partnerID=8YFLogxK
U2 - 10.1109/AIM.2019.8868662
DO - 10.1109/AIM.2019.8868662
M3 - Conference contribution
AN - SCOPUS:85074277755
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 346
EP - 351
BT - Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
Y2 - 8 July 2019 through 12 July 2019
ER -