典型文献
Learning Rat-Like Behavior for a Small-Scale Biomimetic Robot
文献摘要：
Existing biomimetic robots can perform some basic rat-like movement primitives(MPs)and simple behavior with stiff combinations of these MPs.To mimic typical rat behavior with high similarity,we pro-pose parameterizing the behavior using a probabilistic model and movement characteristics.First,an analysis of fifteen 10 min video sequences revealed that an actual rat has six typical behaviors in the open field,and each kind of behavior contains different bio-inspired combinations of eight MPs.We used the softmax classifier to obtain the behavior-movement hierarchical probability model.Secondly,we speci-fied the MPs using movement parameters that are static and dynamic.We obtained the predominant val-ues of the static and dynamic movement parameters using hierarchical clustering and fuzzy C-means clustering,respectively.These predominant parameters were used for fitting the rat spinal joint trajec-tory using a second-order Fourier series,and the joint trajectory was generalized using a back propaga-tion neural network with two hidden layers.Finally,the hierarchical probability model and the generalized joint trajectory were mapped to the robot as control policy and commands,respectively.We implemented the six typical behaviors on the robot,and the results show high similarity when com-pared with the behaviors of actual rats.
文献关键词：
中图分类号：
作者姓名：
Zihang Gao;Guanglu Jia;Hongzhao Xie;Qiang Huang;Toshio Fukuda;Qing Shi
作者机构：
Key Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology),Ministry of Education,Beijing 100081,China;Intelligent Robotics Institute,School of Mechatronical Engineering,Beijing Institute of Technology,Beijing 100081,China;Beijing Advanced Innovation Center for Intelligent Robots and Systems,Beijing Institute of Technology,Beijing 100081,China
文献出处：
引用格式：
[1]Zihang Gao;Guanglu Jia;Hongzhao Xie;Qiang Huang;Toshio Fukuda;Qing Shi-.Learning Rat-Like Behavior for a Small-Scale Biomimetic Robot)[J].工程（英文）,2022(10):232-243
A类：
B类：
Learning,Rat,Like,Behavior,Small,Scale,Biomimetic,Robot,Existing,biomimetic,robots,can,perform,some,basic,like,movement,primitives,MPs,simple,stiff,combinations,these,To,mimic,typical,high,similarity,pose,parameterizing,using,probabilistic,model,characteristics,First,analysis,fifteen,video,sequences,revealed,that,actual,has,six,behaviors,open,field,each,kind,contains,different,inspired,eight,We,used,softmax,classifier,hierarchical,probability,Secondly,speci,fied,parameters,static,dynamic,obtained,predominant,val,ues,clustering,fuzzy,means,respectively,These,were,fitting,spinal,joint,second,order,Fourier,series,trajectory,was,generalized,back,propaga,neural,network,hidden,layers,Finally,mapped,control,policy,commands,implemented,results,show,when,pared,rats
AB值：
0.564281
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