闫磊 - 哈尔滨工业大学（深圳） - 机电工程与自动化学院

个人简介

闫磊，博士，哈尔滨工业大学（深圳）机电工程与自动化学院助理教授。2019年6月博士毕业于哈尔滨工业大学机械电子工程专业，2019年8月至2021年12月在英国爱丁堡大学（The University of Edinburgh）从事博士后研究员（Research Fellow）工作，2022年2月加入哈尔滨工业大学（深圳）机电工程与自动化学院。长期从事协作机器人与空间机器人的运动规划与柔顺控制相关研究工作，重点解决大动量物体捕获（应用场景包括工业物流分拣、太空轨道垃圾清理）以及多机器人自主协同规划与控制（应用场景包括大型结构件的操作以及装配）的难题。工作经历 2022.02-至今助理教授哈尔滨工业大学（深圳） 2019.08-2021.12 博士后研究员 The University of Edinburgh 教育经历 2015.09-2019.06 机械电子工程哈尔滨工业大学博士 2017.09-2018.09 机器人学 The University of Edinburgh 联合培养博士 2013.09-2015.06 机械工程哈尔滨工业大学硕士 2009.09-2013.06 过程控制工程合肥工业大学本科在研科研项目 2023-2025，国家自然科学基金青年科学基金项目，主持 2023-2025，深圳市优秀科技创新人才培养项目，主持 2022-2024，深圳市高等院校稳定支持计划面上项目，主持

研究领域

冗余机械臂空间机器人双臂协同操作多机器人协作

近期论文

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Lei Yan, Han Yuan, Wenfu Xu, et al. Kinodynamic Trajectory Optimization of Dual-Arm Space Robot for Stabilizing a Tumbling Target. International Journal of Aerospace Engineering, Vol. xx, No. xx, (2022), pp. 1–16. Lei Yan, Stouraitis Theodoros, and Sethu Vijayakumar. Decentralized Ability-Aware Adaptive Control for Multi-robot Collaborative Manipulation. IEEE Robotics and Automation Letters, Vol. 6, No. 2 (2021), pp. 2311-2318. Bingshan Hu, Lei Yan, Liangliang Han, et al. Coordinated Compliance Control of Dual-Arm Robot Astronaut for Payload Operation[J]. International Journal of Advanced Robotic Systems, Vol. 18, No. 3 (2021): pp. 1-15. Lei Yan, Wenfu Xu, Zhonghua Hu, et al. Multi-objective Configuration Optimization for Coordinated Capture of Dual-arm Space Robot. Acta Astronautica, Vol. 167, No. xx, (2020), pp. 189-200. Lei Yan, Wenfu Xu, Zhonghua Hu, et al. Virtual-base Modeling and Coordinated Control of a Dual-arm Space Robot for Target Capturing and Manipulation. Multibody System Dynamics, Vol. 45, No. 4, (2019), pp. 431–455. Wenfu Xu, Lei Yan, Zhonghua Hu, et al. Area-Oriented Coordinated Trajectory Planning of Dual-Arm Space Robot for Capturing a Tumbling Target. Chinese Journal of Aeronautics, Vol. 32, No. 9, (2019), pp. 2151-2163. Wenfu Xu, Zhonghua Hu, Lei Yan, et al. Modeling and planning of a space robot for capturing tumbling target by approaching the Dynamic Closest Point. Multibody System Dynamics, Vol. 47, No. 3, (2019), pp. 203–241. Jianqing Peng, Wenfu Xu, Lei Yan, Erzhen Pan, et al. A Pose Measurement Method of a Space Non-Cooperative Target Based on Maximum Outer Contour Recognition. IEEE Transactions on Aerospace and Electronic Systems, Vol. 162, No. xx, (2019), pp. 589-607. Jianqing Peng, Wenfu Xu, Erzhen Pan, Lei Yan, et al. Dual-arm Coordinated Capturing of an Unknown Tumbling Target Based on Efficient Parameters Estimation. Acta Astronautica, Vol. 162, No. xx, (2019), pp. 589-607. Lei Yan, Han Yuan, Wenfu Xu, et al. Generalized Relative Jacobian Matrix of Space Robot for Dual-Arm Coordinated Capture. Journal of Guidance, Control, and Dynamics, Vol. 41, No. 5 (2018), pp. 1202-1208. Wenfu Xu, Lei Yan, Zonggao Mu, et al. Dual Arm-angle Parameterisation and its Applications for Analytical Inverse Kinematics of Redundant Manipulators. Robotica, Vol. 34, No. 12 (2016), pp. 2669-2688. Tianliang Liu, Lei Yan, Liang Han, et al. Coordinated Resolved Motion Control of Dual-Arm Manipulators with Closed Chain. International Journal of Advanced Robotic Systems, Vol. 13, No. 3 (2016), pp. 1-14. 会议论文 Xiaoyu Zhang, Lei Yan*, Tin Lun Lam, and Sethu Vijayakumar. Task-Space Decomposed Motion Planning Framework for Multi-Robot Loco-Manipulation. IEEE International Conference on Robotics and Automation (ICRA), 2021 : 1-8. (*Corresponding author) Stouraitis Theodoros*, Lei Yan*, Joao Moura, Michael Gienger, and Sethu Vijayakumar. Multi-mode Trajectory Optimization for Impact-aware Manipulation. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020 : 9425-9432. (*Authors with equal contribution) Lei Yan, Yiming Yang, Wenfu Xu, Sethu Vijayakumar. Dual-arm Coordinated Motion Planning and Compliance Control for Capturing Moving Objects with Large Momentum. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018: 7137–7144. Liang Han, Lei Yan, Wenfu Xu. A Lightweight Redundant Manipulator with High Stable Wireless Communication and Compliance Control. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2018: 6622–6627. Lei Yan, Zonggao Mu, Wenfu Xu, Bingsong Yang. Coordinated Compliance Control of Dual-Arm Robot for Payload Manipulation: Master-slave and Shared Force Control. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, 2016: 2697-2702.

学术兼职

期刊审稿 IEEE Transactions on Robotics IEEE Transactions on Cybernetics IEEE Robotics and Automation Letters IEEE Transactions on Medical Robotics and Bionics IEEE Transactions on Aerospace and Electronic Systems Journal of Guidance, Control, and Dynamics Autonomous Robots Nonlinear Dynamics Robotics and Autonomous Systems 会议审稿 ICRA IROS