机器鼠的仿鼠运动程度评估

Motion Similarity Evaluation between a Robotic Rat and a Laboratory Rat

在仿生机器鼠与实验鼠行为交互实验中,需要机器鼠能够在形态和动作行为上都非常接近实验鼠.为此,对先前研制出的仿生机器鼠硬件进行了优化改进,使其在形态上更接近实验鼠.使用最大俯仰角(MPA)和最大到达高度(MRH)、最大弯曲角(MBA)和最小弯曲距离(MBD)4个参数来评估机器鼠的动作基元:俯仰和偏航运动.实验结果表明,改进后的机器鼠具有良好的俯仰运动性能,偏航运动还需要完善.然后,结合基于俯仰角和弯曲角的第1个关键影响因子、以及基于到达高度和弯曲距离的第2个关键影响因子,以其作为衡量机器鼠与实验鼠运动相似度的量化指标,并建立运动相似性评估模型.最后,通过机器鼠对实验鼠3个典型行为过程的模拟,计算出前述的2个关键影响因子,得到机器鼠对实验鼠典型行为的相似度分别为96.12%、98.68%和96.61%.上述实验结果表明,机器鼠能够高质量地实现对实验鼠动作行为的模拟.

In biomimetic interactive experiments of robotic rats and laboratory rats, the robotic rat should be very close to the laboratory rat in the respects of morphology and behaviors. In this view, the structure of our previous robotic rat is optimized to make its morphology more similar to a laboratory rat. 4 indexes, including the maximum pitch angle(MPA) and the maximum reachable height(MRH), the maximum bendable angle(MBA) and the minimum bendable distance(MBD),are proposed to assess action primaries of the robotic rat including the pitch and yaw motions. Experiments show that the optimized robotic rat has good performance of pitch motion and its yaw motion needs to be further improved. Then, the model of motion similarity between the robotic rat and the laboratory rat is established with 2 quantization parameters. One is the first key impact factor based on the pitch and bend angles, and the other one is the second key impact factor based on the arrival height and bendable distance. The 2 key impact factors are calculated by simulating 3 typical behaviors of a laboratory rat, and the similarities of the 3 behaviors are then obtained to be 96.12%, 98.68% and 96.61%, respectively. The results demonstrate that the robotic rat can achieve high-quality action simulation of a laboratory rat.