无创伤老鼠生物机器人的运动控制

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皮喜田, 徐林, 周升山, 魏亢, 王振宇, 刘洪英, 郑小林, 温志渝. 无创伤老鼠生物机器人的运动控制[J]. 机器人, 2011, 33(1): 71-76.. PI Xitian, XU Lin, ZHOU Shengsan, WEI Kang, WANG Zhenyu, LIU Hongying, ZHENG Xiaolin, WEN Zhiyu. Navigation of the Non-Invasive Rat Robot. ROBOT, 2011, 33(1): 71-76..

摘要介绍了一种基于超声波刺激融合表皮电极刺激及LED灯光辅助刺激的无损伤老鼠生物机器人运动控制导航系统，它利用上位机远程调度老鼠机器人背上的超声波刺激器刺激其听觉、表皮电极刺激器刺激其痛觉及LED灯光辅助刺激器刺激其视觉，从而控制其运动．实验证明，通过合理搭配这3种刺激，可以高效地对老鼠的向前运动及左、右转运动进行无创伤运动控制，而且搭配老鼠头部安放的远程摄像头成功实现了300m范围内的远程图像采集及老鼠运动路线调节．

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	皮喜田
	徐林
	周升山
	魏亢
	王振宇
	刘洪英
	郑小林
	温志渝

关键词 ：老鼠生物机器人, 上位机, 超声波刺激器, 表皮电极刺激器, LED灯光刺激器

Abstract：A navigation system for non-invasive rat robot is described here that can control the rat navigation via ultrasonic, electrical epidermal and LED(light-emitting diode) photic stimulators.It receives commands from a remote host computer to remotely deliver ultrasonic,electrical epidermal and LED photic stimuli to the auditory,pain and visual senses of the rat respectively,and thus its motion control is accomplished.The experiments demonstrate that the appropriate coordination of the three stimuli enables the rat to proceed and make right and left turns effectively and non-invasively,what's more,the telemetry camera mounted on the rat head also achieves remote image acquisition and helps to adjust rat navigation path over a distance of 300 m.

Key words： rat robot host computer ultrasonic stimulator electrical epidermal stimulator LED(light-emitting diode)photic stimulator

收稿日期: 2010-02-03 录用日期: 2010-07-21

TP242.6

基金资助:国家自然科学基金资助项目（30970883）

通讯作者: 皮喜田 E-mail: pixitian@cqu.edu.cn

作者简介: 皮喜田（1978- ），男，博士，副教授．研究领域：BioMEMS，遥控释药胶囊，肠道机器人．
徐林（1983- ），男，硕士，研究领域：生物机器人的开发．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I1/71

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