The capability of performing animal-like turning action is very important for a biomimetic robot to be used in realistic world. Although the existed biomimetic robots can imitate turning actions of their counterparts, it is still lacking an effective approach to generate bioinspired turning action of small quadruped animals. To solve this problem, we proposed an effective phase-shift-based motion planning method after systematically analyzing and mathematically modeling the turning action of laboratory rats. Moreover, we introduced an N-step turning strategy to allow the biomimetic robot effectively perform animallike turning action regardless of joint limits. We characterized the action similarity between rats and a rat-inspired robot in terms of joint trajectory and their envelope. The robot is able to closely follow the turning action of rats since the difference of turning angle is less than 7.95°. Additionally, the width distribution of trajectory envelope between the robot and rat is quite similar. The proposed turning model can be easily extended to biomimetic robots inspired by other small quadruped mammals, which share similar turning patterns to rats.

中文翻译：

---

仿生机器人的仿生相移转向动作

对于在现实世界中使用的仿生机器人而言，执行类似动物的转弯动作的能力非常重要。尽管现有的仿生机器人可以模仿同类机器人的转弯动作，但仍然缺乏有效的方法来产生小四足动物的生物启发式转弯动作。为了解决这个问题，在对实验大鼠的转弯动作进行系统分析和数学建模后，我们提出了一种有效的基于相移的运动计划方法。此外，我们引入了N步转弯策略，以使仿生机器人能够有效执行类似动物的转弯动作，而不受关节限制的影响。我们以关节轨迹及其包络为特征，描述了大鼠和受大鼠启发的机器人之间的动作相似性。由于转弯角的差小于7.95°，因此该机器人能够紧密跟踪老鼠的转弯动作。另外，机器人和老鼠之间的轨迹包络线的宽度分布非常相似。拟议的转弯模型可以很容易地扩展到仿生机器人，该仿生机器人的灵感来自其他小型四足哺乳动物，它们与大鼠具有相似的转弯模式。