Method for evaluating motion similarity between robotic mouse and laboratory mouse

Abstract

The invention provides a method for evaluating the motion similarity between a robotic mouse and a laboratory mouse. Robotic mouse motion design based on motion parameters of the laboratory mouse is composed of four parts of motion parameter obtaining of the laboratory mouse, kinematics simulation, robotic mouse experimenting and similarity evaluating. Motion similarity evaluating is based on theparameters (the duration time of each action, the pitching angle alpha p, the pitching height hp, the yaw distance dy, the yaw radius ry and the like) for representing the motion characteristics of the laboratory mouse, two typical actions are selected for a robotic mouse imitation experiment, and similarity evaluating is conducted by adopting a dynamic time warping (DTW) method. According to theevaluating result of the motion similarity, the control strategy is continuously optimized. The motion similarity of the robotic mouse imitating the laboratory mouse is evaluated from the quantitativeangle, and high similarity imitation of laboratory mouse motion can be achieved.

Description

technical field [0001] The invention belongs to the technical field of bionic robots, and in particular relates to a bionic motion evaluation method of a robot mouse. This method can effectively design the movement of the robot mouse with a high similarity to the movement of the experimental mouse, and realize the high-quality bionic movement of the robot mouse. Background technique [0002] Because the body structure and drug response of experimental mice are close to those of humans, they are often used as animal models of human diseases (animals with simulated performance of human diseases), and are key resources for studying the laws of human diseases and testing and screening new drugs. However, the experimental conditions of traditional animal model behavior evaluation are uncontrollable, the experimental period is long, the behavioral interaction test between animals has low reproducibility and is difficult to control, and there are also errors in the control group du...

AI Technical Summary

Problems solved by technology

[0004] The bionic robot mouse can only imitate the various actions of experimental mice visually, and does not evaluate this similarity from a quantitative point of view; due to the lack of a method for quantitatively evaluating this similarity in motion, it is difficult to Improve the robot mouse on the imitation of the robot mouse, which limits the application of the optimal control strategy of the robot mouse

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