Shandong University

Shandong Jiaotong University

Yong Fan

Guodong Li

Yibin Li

Jiuhong Ruan

Fuguang Yang

Guoteng Zhang

Xuewen Rong

Guanglin Lu

Teng Chen

Jian Bi

Aizhen Xie

The present disclosure belongs to the technical field of mechanical spraying, and a color change block with detection feedback as well as spraying equipment are provided. The color change block with detection feedback comprises a cleaning agent valve module, a color change micro valve module, a mixing pipe module and a turbidity detection module which are connected in sequence. A complete collinear common channel is formed among these modules, and the wall surface of the common channel is a complete plane. The turbidity detection module is further connected to the control module and used for monitoring the turbidity of a medium flowing through the common channel in real time so as to determine whether the medium in the common channel meets a cleaning requirement or not and feed a determination result back to the control module, and then the control module switches other media to form a closed-loop control.

Color change block with detection feedback as well as spraying equipment

A mobile manipulation control method of a quadruped robot with an operation arm, including: obtaining current pose information of the legged mobile manipulator; decomposing a task into subtasks, and prioritizing the subtasks; based on the pose information and a dynamic model, generating a motion trajectory under each subtask; based on the dynamic model, optimizing an optimal plantar force of a supporting leg and an end-of-arm force under each subtask; based on a multi-task spatial projection method, calculating desired control quantity of all joints under different subtasks; and (d) optimizing the optimal plantar force and the desired control quantity with the whole-body dynamic model as a constraint to obtain control torques; and based on the control torques, controlling the legged mobile manipulator's motion. A control system is further provided.

Mobile manipulation control method and system of quadruped robot with operation arm

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Jinan, China

Yong Fan