NDLI: Control of posture and trajectory for a rat-like robot interacting with multiple real rats

Content Provider	IEEE Xplore Digital Library
Author	Qing Shi Ishii, H. Sugahara, Y. Kinoshita, S. Takanishi, A. Okabayashi, S. Qiang Huang Fukuda, T.
Copyright Year	2014
Description	Author affiliation: Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China (Qing Shi; Qiang Huang; Fukuda, T.) \|\| Sch. of Sci. & Eng., Kokushikan Univ., Tokyo, Japan (Sugahara, Y.) \|\| Waseda Univ., Tokyo, Japan (Ishii, H.; Kinoshita, S.; Takanishi, A.; Okabayashi, S.)
Abstract	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.
Starting Page	975
Ending Page	980
File Size	1981641
Page Count	6
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6906972
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Rats Observers Force Joints Mathematical model Trajectory
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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