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

Implementation of motion control for a parallel spinal quadruped robot based on CPG

Construction and Mining Equipment and Technologies

The 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.

Host city and venue - Vienna

Vienna (Wien) is the federal capital and largest city of Austria, and one of the nine states of Austria. Vienna is Austria's primate city, with a population of about 1.9 million (2.6 million within the metropolitan area, nearly one third of Austria's population), and its cultural, economic, and political centre. It is the 7th-largest city by population within city limits in the European Union.  Read more...

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