北京郵電大學(xué)機器人機構(gòu)與交叉創(chuàng)新實驗室創(chuàng)建于20世紀(jì)80年代，以梁崇高教授、廖啟征教授等為代表的老一輩在機器人機構(gòu)學(xué)等方面研究頗豐，具有豐厚的科研底蘊，解決了被譽為機構(gòu)學(xué)“珠穆朗瑪峰”的7R機構(gòu)運動學(xué)世界難題，在機器人機構(gòu)學(xué)領(lǐng)域處于領(lǐng)先地位，獲得過國家教委科技進步獎一等獎、國家自然科學(xué)獎四等獎等。面向未來，實驗室賡續(xù)傳承，交叉創(chuàng)新，主要致力于機器人機構(gòu)學(xué)、醫(yī)療康復(fù)機器人、特種作業(yè)機器人、數(shù)字化設(shè)計及智能制造、機器視覺及人工智能、虛擬現(xiàn)實及數(shù)字孿生等相關(guān)的基礎(chǔ)理論研究、關(guān)鍵技術(shù)創(chuàng)新、產(chǎn)業(yè)化轉(zhuǎn)化及高素質(zhì)人才培養(yǎng)。
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（1）機器人機構(gòu)學(xué)
（2）醫(yī)療康復(fù)機器人
（3）特種作業(yè)機器人
（4）數(shù)字化設(shè)計及智能制造
（5）機器視覺及人工智能
（6）仿生學(xué)與機器人
1）在研科研項目
[1] 國家重點研發(fā)計劃課題，網(wǎng)絡(luò)化二便能力增強與護理機器人系統(tǒng)集成及應(yīng)用驗證，2022.11-2025.10，在研；
[2] 國家重點研發(fā)計劃課題，多體位變換照護康復(fù)一體化支撐平臺創(chuàng)成，2023.12-2026.11，在研
[3] 國家重點研發(fā)計劃課題，基于動態(tài)補償與彈性配準(zhǔn)的手眼協(xié)同實時導(dǎo)航技術(shù)研究，2023.12-2026.11，在研；
[4] 國家自然科學(xué)基金面上項目，第三代半導(dǎo)體材料SiC單晶聚焦超聲激勵金剛石線鋸高效切割機理研究，2023.1-2026.12，在研；
[5] 國家自然科學(xué)基金青年項目，復(fù)雜機電產(chǎn)品中柔性線纜的彈塑性物理建模與裝配仿真方法，2024.1-2026.12，在研；
[6] 國家自然科學(xué)基金青年項目，飛魚高效水空跨介質(zhì)運動機理及仿生機器人研究，2023.1-2025.12，在研；
[7] 國家重點研發(fā)計劃子課題，高齡脊柱退變性疾病支具治療關(guān)鍵技術(shù)及臨床驗證，2024.1-2026.12，在研；
[8] 國家重點研發(fā)計劃子課題，照護康復(fù)一體化機器人智能協(xié)同控制方法研究，2023.12-2026.11，在研；
[9] 國家重點研發(fā)計劃子課題，復(fù)雜創(chuàng)面縫合運動學(xué)參數(shù)優(yōu)化系統(tǒng)，2023.11-2026.10，在研；
[10] 國家重點研發(fā)計劃子課題，高齡脊柱退變分型與生物力學(xué)機制理論體系，2024.1-2026.12，在研；
[11] 總裝預(yù)研分承研項目，復(fù)雜XX線纜敷設(shè)XX規(guī)劃與XX技術(shù)研究，2022.10-2025.10，在研；
[12] 工業(yè)和信息化部高質(zhì)量專項，“XX服務(wù)器”，2024.01-2026.01，在研；
[13] 北京市自然科學(xué)基金項目，兒童頭頸部腫瘤手術(shù)機器人關(guān)鍵技術(shù)研究，2024.1-2027.12，在研。
2） 代表學(xué)術(shù)論文
[1] Ganmin Zhu; Shimin Wei; Ying Zhang; Qizheng Liao ; CGA-based novel modeling method for solving the forward displacement analysis of 3-RPR planar parallel mechanism, Mechanism and Machine Theory, 2022, 168: 1-
[2] Xuegang Li; Shimin Wei; Qizheng Liao; Ying Zhang ; A novel analytical method for four-bar path generation synthesis based on Fourier series, Mechanism and Machine Theory, 2020, 144: 1-24.
[3] Xuegang Li; Shimin Wei; Qizheng Liao; Ying Zhang ; A novel analytical method for function generation synthesis of planar four-bar linkages, Mechanism and Machine Theory, 2016, 101: 222-235.
[4] Haiyan Sheng; Wei Shimin; Xiuli Yu; Ling Tang ; Research on Binocular Visual System of Robotic Arm Based on Improved SURF Algorithm [J]. IEEE Sensors Journal, 2020, 20(20): 11849- 11855.
[5] Mingshuai Dong; Wei Shimin; Xiuli Yu; Jianqin Yin ; MASK-GD segmentation based robotic grasp detection [J]. Computer Communications, 2021, 178: 124-130.
[6] Jian Li, Diansheng Chen, Yingying Zhang, Yan Yao, Zhongjun Mo, Lizheng Wang, Yubo Fan. Diagonal-symmetrical and Midline-symmetrical Unit Cells with Same Porosity for Bone Implant: Mechanical Properties Evaluation. Journal of Bionic Engineering, 2019,16(3): 468–479.
[7] Zhuxun Tang, Yueting Zhou1, Lifang Ma, Jian Li, Flow performance of porous implants with different geometry: Line, surface, and volume structures. International Journal of Bioprinting,2023,9(3):1-14.
[8] Rui Cui, Jian Li, Yongkang Jiang, Hao Sun, Yinglun Tan, Lunhui Duan, Mengkun Wu, Trajectory Optimization with Musculoskeletal Integration Features for Fracture Reduction Orthopedic Robot, International Journal of Medical Robotics and Computer Assisted Surgery,2022,18(2):1-13.
[9] Peng Su, Jiang Li, Chao Yue, Tian Liu, Baoguo Liu, Jian Li, Preoperative positioning planning for a robot-assisted minimally invasive surgical system based on accuracy and safety, International Journal of Medical Robotics and Computer Assisted Surgery,2022, 18(4):1-9.
[10] Jiang Yongkang, Tong Xin, Li Jian*,Hui Li, Chongjing Cao, Xing Gao, Yingtian Li*. Reprogrammable bistable actuators for multimodal, fast, and ultra-sensitive grasping. IEEE/ASME Transactions on Mechatronics, 2023.
[11] 崔睿, 陳殿生, 蘇鵬, 李劍, 孫昊. 骨折復(fù)位及畸形矯正機器人的軌跡規(guī)劃研究進展[J]. 機械工程學(xué)報, 2022, 58(13): 1-21.
[12] Lutao Yan, Xinrong Zhang, Haiyuan Li, Qinjian Zhang*. Machinability improvement in three-dimensional (3D) ultrasonic vibration assisted diamond wire sawing of SiC [J]. Ceramics International, 2022, 48(6): 8051-8068.
[13] Lutao Yan, Qi Wang, Haiyuan Li, Qinjian Zhang. Surface generation mechanism of ceramic matrix composite in ultrasonic assisted wire sawing [J]. Ceramics International, 2021, 47(2):1740-1749.
[14] Lutao Yan, Wang Chen, Haiyuan Li, Qinjian Zhang*. Mechanism of ultrasonic vibration effects on adhesively bonded ceramic matrix composites joints [J]. Ceramics International, 2021,47(23):33214-33222.
[15] Lutao Yan, Qi Wang, Haiyuan Li, Qinjian Zhang*. Experimental investigation on cutting mechanisms in fixed diamond wire sawing of bone [J]. Precision Engineering, 2021,68:319-325.
[16] Lutao Yan, Qinjian Zhang, Jinhai Wang, Jingzhou Yu. Effect of ultrasonic vibration on tribological behavior of carbon-carbon composite [J]. Tribology International, 2019, 136: 469-474.
[17] Lutao Yan, Qinjian Zhang, Jingzhou Yu. Analytical models for oil penetration and experimental study on vibration assisted machining with minimum quantity lubrication [J]. International Journal of Mechanical Sciences, 2018, 148: 374-382.
[18] Lutao Yan, Xiuhong Chen, Haiyuan Li, Qinjian Zhang.Investigation on focused ultrasound-assisted diamond wire sawing of silicon carbide [J]. International Journal of Advanced Manufacturing Technology, 2023, 128:.3251–3259
[19] Lutao Yan, Qinjian Zhang, Jingzhou Yu. Effects of continuous minimum quantity lubrication with ultrasonic vibration in turning of titanium alloy [J]. International Journal of Advanced Manufacturing Technology, 2018, 98:827-837.
[20] Wu Zhang, Haiyuan Li, Linlin Cui, Haiyang Li, Xiangyan Zhang, Shanxiang Fang, Qinjian Zhang. Research progress and development trend of surgical robot and surgical instrument arm [J]. International Journal of Medical Robotics and Computer Assisted Surgery, 2021, 7(5):e2309.
[21] Dai Xiaofeng, Li Haiyuan. Ning Meng. Plasma robot engineering: the next generation of precision disease management [J]. Annals of biomedical engineering, 2021, 49: 1593–1597.
[22] 李海源, 劉暢, 嚴(yán)魯濤, 張斌, 李端玲, 張勤儉. 上肢外骨骼機器人的阻抗控制與關(guān)節(jié)試驗研究. 機械工程學(xué)報. 2020, 56(19): 200-209.
[23] Li Haiyuan, Wang Tianmiao, Gregory Chirikjian. Simultaneous Hand-Eye and Robot-World Calibration by Solving the AX=YB Problem without Correspondence [J]. IEEE Robotics and Automation Letters, 2016, 1(1): 145-152.
[24] Li Haiyuan, Wang Tianmiao, Wei Hongxing, and Meng Cai. Response Strategy to Environmental Cues for Modular Robots with Self-Assembly from Swarm to Articulated Robots [J]. Journal of Intelligent & Robotic Systems, Springer Netherlands, 2016, 81(3-4): 359-376.
[25] Li Haiyuan, Wei Hongxing, Xiao Jiangyang, and Wang Tianmiao. Co-evolution framework of swarm self-assembly robots [J]. Neurocomputing, 2015, 148: 112-121.
[26] 張英, 馮征征, 李劍, 魏世民, 廖啟征. 基于CGA 的7自由度冗余機械臂逆運動學(xué)臂型角參數(shù)化方法[J], 機械工程學(xué)報, 2023, 59(23): 68-75
[27] 張英, 黃起能, 廖啟征, 魏世民. 空間剛體變換的倍矩陣描述方法, 機械工程學(xué)報, 2022, 58(13): 89-100
[28] 張英, 黃起能, 廖啟征, 等. 空間6R串聯(lián)機械手逆運動學(xué)分析的新方法研究. 機械工程學(xué)報, 2022, 58(19): 1-11.
[29] Zhang Ying; Kong Xianwen; Wei Shimin; Li Duanling; Liao Qizheng ; CGA-Based approach to direct kinematics of parallel mechanisms with the 3-RS structure [J], Mechanism and Machine Theory, 2018, 124: 162-178
[30] Yu. XL, Yang. FH, Yun. J, Wu. S. CIRNN: An Ultra-Wideband Non-Line-of-Sight Signal Classifier Based on Deep-Learning [J]. Tehnicki Vjesnik-Technical Gazette, 2022, 29(4):1139-1146.
[31] Yu. XL, Dong. MS, Yin. WM. Time-optimal trajectory planning of manipulator with simultaneously searching the optimal path[J]. Computer Communications, 2022, 181:446-453.
[32] Dong. MS , Bai. YX , Wei. SM, Yu.XL. Real-world semantic grasp detection using ontology features: learning to concentrate on object features[J]. Neural Processing Letters, 2023, 55 (6):8419-8439.
[33] Bai.YX, Dong. MS, Wei.SM , Li. J, Yu.XL. YOLOOD: an arbitrary-oriented flexible flat cable detection method in robotic assembly[J]. Journal Of Supercomputing, 2023,79 (13):14869-14893.
[34] Xiong Xiong, Wang Ying, Song Tianyuan, Huang Jinguo*, Kang Guixia. Improved motor imagery classification using adaptive spatial filters based on particle swarm optimization algorithm[J]. Frontiers in Neuroscience, 2023, 17: 1303648.
[35] Cao Gongpeng, Zhang Manli, Wang Yiping, Zhang Jing, Han Ying, Xu Xin, Huang Jinguo*, Kang Guixia*. End-to-end automatic pathology localization for Alzheimer’s disease diagnosis using structural MRI[J]. Computers in Biology and Medicine, 2023: 107110.
[36] Huang Jinguo, Wang Tianmiao, Liang Jianhong, Yang Xingbang, Wang Haodong, Kang Guixia. Biorobotic Waterfowl Flipper with Skeletal Skins in a Computational Framework: Kinematic Conformation and Hydrodynamic Analysis[J]. Advanced Intelligent Systems, 2022: 2200380.
[37] Huang Jinguo, Liang Jianhong, Yang Xingbang, Chen Hongyu, Wang Tianmiao. Cormorant webbed feet support water-surface takeoff: Quantitative analysis via CFD[J], Journal of Bionic Engineering, 2021.
[38] Huang Jinguo, Sun Yilun, Wang Tianmiao, Tim C. Lueth, Liang Jianhong, Yang Xingbang. Fluid-Structure Interaction Hydrodynamics Analysis on a Deformed Bionic Flipper With Non-Uniformly Distributed Stiffness[J]. IEEE Robotics and Automation Letters, 2020, 5(3): 4657-4662./Presented at the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
[39] Naijing Lv, Jianhua Liu*, Xiaoyu Ding, Jiashun Liu, Haili Lin, and Jiangtao Ma. Physically based real-time interactive assembly simulation of cable harness[J]. Journal of Manufacturing Systems, 2017, 43:385-399.
[40] Naijing Lv, Jianhua Liu, Xiaoyu Ding*, and Haili Lin. Assembly simulation of multi-branch cables[J]. Journal of Manufacturing Systems, 2017, 45:201-211.
[41] Naijing Lv, Jianhua Liu, and Yunyi Jia*. Dynamic modeling and control of deformable linear objects for single-arm and dual-arm robot manipulations[J]. IEEE Transactions on Robotics, 2022, 38(4):2341-2353.
[42] Naijing Lv, Jianhua Liu*, Huanxiong Xia, Jiangtao Ma, and Xiaodong Yang. A review of techniques for modeling flexible cables[J]. Computer-Aided Design, 2020, 122:102826.
[43] 呂乃靜, 劉檢華*. 柔性線纜的機器人自動敷設(shè)關(guān)鍵技術(shù)與發(fā)展趨勢[J]. 機械工程學(xué)報, 2022, 58(17): 75-95.
2）典型科研產(chǎn)品
圖1 AODF自動光纖配線機器人
圖11 基于混合現(xiàn)實的主從操作腔鏡手術(shù)機器人
圖13 觸覺感知末端執(zhí)行器
圖14 互感器文本檢測與識別軟件（手機端和電腦端）
圖15 基于國產(chǎn)芯片的智能網(wǎng)關(guān)
圖16 NZY測試軟件
圖17 多軸力傳感器配套軟件
圖18 柔性線纜的布局設(shè)計與裝配仿真軟件
圖19 基于DELMIA的分支線纜裝配仿真軟件
北京郵電大學(xué)自動化學(xué)院機電工程中心建有“空間機器人技術(shù)教育部工程研究中心”，“機械工程一級學(xué)科博士學(xué)位授權(quán)點”，“北京市機械工程重點學(xué)科”，“智能養(yǎng)老康復(fù)”交叉學(xué)科等。團隊擁有六自由度協(xié)作臂、高精度3D打印機、NDI運動捕捉系統(tǒng)、面向虛擬制造和遙操作的頭盔、五指靈巧手等軟硬件設(shè)備，具備良好的科研實驗條件。
歡迎青年人才加入團隊，歡迎保送、報考、申請團隊的博士研究生、碩士研究生，歡迎從事博士后工作研究。以上專業(yè)包括但不限于：機械、自動化、控制、測控、計算機、電子與信息等。
歡迎來函咨詢與交流！
E-mail: jianli@bupt.edu.cn