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Method for evaluating motion similarity between robotic mouse and laboratory mouse

An evaluation method and similarity technology, applied in the field of bionic robots, can solve the problems of lack of and limit the optimal control strategy of the robot mouse, and achieve the effect of high similarity imitation

Inactive Publication Date: 2018-04-06
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Claims
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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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  • Method for evaluating motion similarity between robotic mouse and laboratory mouse
  • Method for evaluating motion similarity between robotic mouse and laboratory mouse
  • Method for evaluating motion similarity between robotic mouse and laboratory mouse

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Embodiment Construction

[0037] The present invention will be further described below in conjunction with the accompanying drawings and technical solutions, but it is not intended as a limitation of the present invention.

[0038] figure 1 Shown is a schematic diagram of the control flow of the robot mouse according to the motion similarity evaluation method of the present invention, which includes the following steps.

[0039] S10: capturing motion parameters of the experimental animal;

[0040] S20: Carry out inverse kinematics solution to obtain the joint angle and posture of the bionic robot;

[0041] S30: kinematically matching the experimental animal and the bionic robot;

[0042] S40: acquiring motion parameters of the bionic robot;

[0043] S50: Using a dynamic time warping (DTW) method to perform motion similarity evaluation;

[0044] S60: judging whether the motion similarity between the experimental animal and the bionic robot meets the requirements, if not, then go to step S30;

[004...

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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...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1607B25J9/1633B25J9/1638B25J9/1661
Inventor 石青李昌李康邹明杰麻孟超黄强福田敏男
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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