Webpage of Dr.Conghui LIANG

Once you decide that you want to produce good writing and that you can produce good writing,
then all that remains is to write bad stuff, and to revise the bad stuff until it is good.
Marc H. Raibert, 1985

News: 1. Have a look of my PhD thesis: abstract [PDF], Poster [JPG], and slides of presentation [PDF].

3. I am launching a robotics company named YEMA ROBOTICS in my spare time, please have a look! :)

LARM: Laboratory of Robotics and Mechatronics
Department of Mechanics, Structures, Environment and Territory
University of Cassino, Italy
Via G. Biasio 43, 03043, Cassino(Fr), Italy
E-mail: liang.conghui@unicas.it
Phone: +39-0776-2993395
Youtube Channel: http://www.youtube.com/user/liangconghui

Conghui LIANG was born in the city of Changsha in 14 March 1983 in China. He received his Master degree cum laude in Mechatronics Engineering in 22 December 2007 at the Beihang University in Beijing and his Bachelor’s degree in Automation at the Central-South University in Changsha in 10 July 2005. In 2008 he got a grant from the China Scholarship Council (CSC) for his 3 years period of Ph.D. studying in the University of Cassino in Italy. From January 2008, he is a Ph.D. student at LARM: Laboratory of Robotics and Mechatronics in the University of Cassino, Italy under the supervision of Prof. Marco Ceccarelli. From April 2010, he is involved in a DAAD-CRUI German-Italy bilateral program “Vigoni” for designing and testing of a binary actuated parallel micro-manipulator, which supported him for a period of studying and researching in the IWF (Institute of Machine Tools and Production Technology) in the Technical University of Braunschweig, Germany. During his Ph.D. studying, his research work mainly focused on the mechanical design and simulation of robotic systems. He has worked continuously on several research projects at LARM. He has developed numerical algorithms for the workspace determination and characterization of 2R and N-R serial manipulators. He worked on the design and simulation of a one DOF biped robot, and proposed a novel tripod walking robot with low-cost easy-operation design features by using reduced DOF leg mechanisms. He has worked on the synthesis, simulation, and experimental tests of CaPaMan parallel manipulators. He has designed a new torso system for biped humanoid robots by using parallel mechanisms. He has defensed his Ph.D. thesis entitled as "Design and simulation of a waist-trunk system for humanoid robots" on December 2010.. His research interests cover aspects on robotics with special attention to novel design and operation of biped humanoid robots. He also addresses research interests on manipulator workspace, legged robots, control theory, micro-robots, and parallel manipulators. Until now, he has authorized and co-authorized more than 13 papers that have been presented at international conferences or published on international journals. He has been awarded the IFToMM young delegate grant in the RoManSy’2010 international symposium and student grant for the Congreso Nacional de Ingeniería Mecánica (XVIII CNIM). He received the Best Paper Award at the First IFToMM Asian Conference on Mechanism and Machine Science (Asian-MMS 2010) held in Taipei in October 2010. He has served as the reviewer of several international conferences and journals. He has given more than 20 public presentations in the lab seminars or international conferences.

RESERCH ACTIVITIES

2. Workspaces Determination and Characterization of Serial Manipulators [Videos] [More...]

3. Reduced D.O.F Leg Mechanism for Biped and Tripod Walking Robot [Videos] [More...]

4. Design, Simulation, and Experimental Tests of Parallel Manipulators [Videos] [More...]

5. Design, Simulation, and Experimental Tests of A Binary Actuated Parallel Micro-Manipulator[Videos] [More...]

6. An Elastic One-Leg Hopping Robot with Two Actuated Arms [PDF][Videos Slides][More...]

Liang, C., Ceccarelli, M., and Takeda, Y., Operation Analysis of a Chebyshev-Pantograph Leg Mechanism for a single DOF Biped Robot, Chinese Journal of Mechanical Engineering, 2011, (In press).
Carbone, G., Liang, C., Gu, H., Ceccarelli, M., Burisch, A., and Raatz, A. Design and Simulation of a Binary Actuated Parallel Micro-Manipulator, 13th World Congress in Mechanism and Machine Science, Guanajuato, Mexico, June 19-25, paper: A12-332, 2011, (In press).
Liang, C., Gu, H., Carbone, G., and Cecarelli, M. Design and Operation of a Tripod Walking Robot via Dynamics Simulation, International Journal of Robotica, doi: 10.1017/S02635747100000615, 2010, [PDF]
Liang, C., Ceccarelli, M. An Experimental Characterization of Operation of a Waist-Trunk System with Parallel Manipulator, The First IFToMM Asian Conference on Mechanism and Machine Science, Taipei, October 21-25, paper no. 250042, 2010, (Best paper award). [PDF][Slide]
Liang, C., Nava Rodriguez, N.E., and Ceccarelli, M., Modeling and Functionality Simulation of A Waist-Trunk System with Mass Payloads, Congreso Nacional de Ingeniería Mecánica, XVIII CNIM, Ciudad Real, November 3-5, Paper no: 249, 2010.[PDF][Slide]
Liang, C., Cecarelli, M., and Carbone, G., Design and Simulation of a Waist-Trunk System of a humanoid robot, Theory and Practice of Robots and Manipulators 18th CISM-IFToMM Symposium on Robotics, ROMANSY’2010, Udine, July 5-8, pp. 217-224, 2010.[PDF][Slide]
Hernandez Martinez, E., Conghui, L., Carbone, G., Ceccarelli, M., and Lopez-Cajun, C., Numerical and Experimental Characterization of CaPaMan 2bis Operation, Journal of Applied Research and Technology, Vol. 8, n.1, 2010..[PDF]
Carbone, G., Liang, C., and Ceccarelli, M., Using Parallel Architectures for Humanoid Robots, Kolloquium Getriebetechnik 2009, Aachen, March, pp. 177-188, 2009.[PDF][Slide]
Liang, C., Carbone, G., Ceccarelli, M., and Hernandez Martinez, E., A Comparison of Simulations and Experimental Tests on Operation Performance of CapaMan2 bis, In proceedings of the 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009, Changchun, August 9-12, pp. 3533-3538, 2009..[PDF][Slide]
Liang, C., Ceccarelli, M., and Carbone, G., A Novel Biologically Inspired Tripod Walking Robot, In Proceedings of the 13th WSEAS International Conference on Computers, WSEAS’2009, Rodos Island, July 23-25, n. 60-141, pp. 83-91, 2009.[PDF][Slide]
Liang, C., Ceccarelli, M., A Parametric Study of Feasible Workspace Regions for General Two-Revolute Manipulators, In Proceedings of the 3rd International Congress Design and Modeling of Mechanical Systems, CMSM’2009, Tunisia, March 16-18, n. 26. 2008.[PDF][Slide]
Liang, C., Ceccarelli, M., and Takeda, Y., Operation Analysis of a One-DOF Pantograph Leg Mechanism, CD Proceedings of the 17th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD’2008, Ancona, September 15-17, n. 50, 2008.[PDF][Slide]
Gu, H., Liang, C., and Zhao, B., Research on the Real-time Control Techniques for a One-legged Hopping Robot with Two Actuated Arms, Modern Electronic Technique- A Chinese Journal, Vol 31, n. 8, 2008, (In Chinese).[PDF]
Liang, C., He, G. and Luh, Z., Motion Control System Design and Test of An One-Leg Hopping Robot with Two Actuated Arms,4th Academic Forum for Graduate Students at Beihang University, Beijing, No. 25, 2007, (In Chinese).[PDF]

Liang, C., Cecarelli, M., and Carbone, G., Design and Simulation of a Waist-Trunk System of a humanoid robot, Mechanism and Machine Theory, 2010.
Ceccarelli, M., Liang, C., A Formulation for Automatic Generation of Workspace Boundary of N-R Manipulators, ASME Journal of Mechanism and Robotics, 2010.
Liang, C., Ceccarelli, M., Feasible Workspace Regions for General Two-Revolute Manipulators, Mechanism and Machine Theory, 2010.
Liang, C., Ceccarelli, M. An Experimental Characterization of Operation of a Waist-Trunk System with Parallel Manipulator, Chinese Journal of Mechanical Engineering, 2011.
Liang, C., Cecarelli, M., and Carbone, G., Design and Simulation of Legged Walking Robots in Matlab Environment", Book chapter of Matlab/Book 4, ISBN 978-953-307-1077-0, Intech Press, 2011.