Mei Jie
Associate Professor
Wuhan University of Technology
Jie Mei
Wuhan University of Technology
Zhongkai Yang
Wuhan University of Technology
Hao Wang
Wuhan University of Technology
Associate Professor
Wuhan University of Technology
Jie Mei
Wuhan University of Technology
Zhongkai Yang
Wuhan University of Technology
Hao Wang
Wuhan University of Technology
Implementation of motion control for a parallel spinal quadruped robot based on CPG
Construction and Mining Equipment and TechnologiesThe belt conveyor represents a key piece of equipment in the modernisation of port bulk transport. Its operational condition directly affects the efficiency of bulk transport. Over time, the belt conveyor is prone to a wide range of failures. The economic loss caused by an abnormal halt is considerable, which is why it is necessary to inspect the belt conveyor continuously. Due to the high workload and long operating times, manual inspection is not a viable option. Therefore, there is an urgent need for robots to replace manual inspection operations. This paper presents a 2-UPS/1-UP parallel spine mechanism and a Hopf oscillator to construct a CPG (Central Patten Generator) network of the spine and limb layers, and the spine layer network and limb layer network are combined by mathematical modelling. layer network and limb layer network are coupled together to achieve motion control.
