机器鼠的仿鼠运动程度评估

发布时间：2018-03-06 00:06

本文选题：机器鼠　切入点：运动性能评估　出处：《机器人》2017年03期 　论文类型：期刊论文

【摘要】：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.
[Abstract]:In rats and mice bionic interaction experiments, rats can need a machine in the form and action are very close to the experimental rats. Therefore, the previously developed bionic machine in hardware is improved, which were more close to the experimental rats. Using the maximum elevation angle (MPA) and the maximum arrival the height (MRH), the maximum bending angle (MBA) and the minimum distance (MBD) 4 parameters to evaluate the machine in motion primitive: pitching and yawing movement. The experimental results show that the improved machine has good performance in pitching, yaw movement still needs to be perfected. Then, combined with the pitch angle and bending corner of the first key factors based on, and based on the distance and bend reach a height of second key factors, as a quantitative index to evaluate the rats and mice machine motion similarity, and establish motion similarity evaluation model. After the rats of experimental rats by machine 3 typical behavior process simulation, calculate the 2 key factors, obtained similarity to typical behavior of mouse mechanical mouse were 96.12%, 98.68% and 96.61%., the experimental results show that the machine can be in high quality to achieve the simulation of experimental rat's action.

【作者单位】：北京理工大学;
【基金】：国家自然科学基金(61403032) 北京市科技新星计划(Z161100004916071) 机器人仿生与功能研究北京市重点实验室研究基金
【分类号】：TP242

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