A Novel Rat Robot: Multi Degree of Freedom Motion Control

The development of brain-computer interface (BCI) technology has enabled animals to execute movements in accordance with human intent. The rat robot represents a novel robotic system based on BCI technology. However, due to limitations in electrode fabrication techniques and the use of simplistic control strategies, current rat robots are restricted to limited movement patterns, which hinder their applicability in real-world scenarios. To address these challenges, we have developed a portable wireless neural stimulator and a novel 3D integrated stimulating electrode. By refining the locomotion control strategy, we aim to achieve complex, high-degree-of-freedom movement in rat robot systems.

3D integrated electrodes were implanted into the rats' head, with no reward-based training required. By utilizing a wearable wireless stimulation backpack to connect the electrodes and deliver electrical stimulation to multiple brain regions, thereby enabling the rat to perform forward movement, turning, and stopping behaviors.

The experimental results demonstrate that under optimized stimulation parameters, the forward speed of the rat robot can be controlled to achieve 31.06 ± 1.21 m/min, the turning angle can reach up to 150 ± 1.22°, and the stopping duration can be flexibly adjusted. Furthermore, we presented a practical scenario in which the rat robot successfully executed a predefined navigation task in a real-world environment, thereby validating its high degree of movement flexibility and control precision.

This study achieved high-degree-of-freedom motion control of rat robots without the need for reward-based training, which was previously unattainable.

This research establishes a crucial foundation and provides valuable technical references for the application of animal robots in fields such as information reconnaissance and wreckage search and rescue operations.