本文選題：機器鼠　切入點：運動性能評估　出處：《機器人》2017年03期 　論文類型：期刊論文

【摘要】：在仿生機器鼠與實驗鼠行為交互實驗中,需要機器鼠能夠在形態(tài)和動作行為上都非常接近實驗鼠.為此,對先前研制出的仿生機器鼠硬件進行了優(yōu)化改進,使其在形態(tài)上更接近實驗鼠.使用最大俯仰角(MPA)和最大到達高度(MRH)、最大彎曲角(MBA)和最小彎曲距離(MBD)4個參數(shù)來評估機器鼠的動作基元:俯仰和偏航運動.實驗結(jié)果表明,改進后的機器鼠具有良好的俯仰運動性能,偏航運動還需要完善.然后,結(jié)合基于俯仰角和彎曲角的第1個關(guān)鍵影響因子、以及基于到達高度和彎曲距離的第2個關(guān)鍵影響因子,以其作為衡量機器鼠與實驗鼠運動相似度的量化指標(biāo),并建立運動相似性評估模型.最后,通過機器鼠對實驗鼠3個典型行為過程的模擬,計算出前述的2個關(guān)鍵影響因子,得到機器鼠對實驗鼠典型行為的相似度分別為96.12%、98.68%和96.61%.上述實驗結(jié)果表明,機器鼠能夠高質(zhì)量地實現(xiàn)對實驗鼠動作行為的模擬.
[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.

【作者單位】： 北京理工大學(xué);
【基金】：國家自然科學(xué)基金(61403032) 北京市科技新星計劃(Z161100004916071) 機器人仿生與功能研究北京市重點實驗室研究基金
【分類號】：TP242

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本文編號：1572465