Design of a Biomimetic Rodent Robot

摘要

In this article we describe the design of a modular,\nlow cost, biomimetic robot created to mimic the size and\nlocomotion of a common rat (rattus norvegicus). The created robot\nis untethered, easy to use and simple to produce; it thus can be\nused as a universal research platform. It is based on tendon-\ndriven actuation, which allows for a compliant leg design and\nenables generation of open-loop controlled, simple locomotion\npatterns: trotting forward, backward as well as turning left\nand right. Small biomimetic robots can be useful for behavioral\nstudies in combination with animals or for new, efficient types\nof locomotion, transportation and exploration systems. They are\nhowever challenging to build as mobile robots, since their size\nlimits the use of common-sized actuators, as well as the use of\nlarge, long lasting power supplies.