臧希喆 - 哈尔滨工业大学

个人简介

臧希喆，男，教授，博士生导师，任职于哈工大机电学院机器人研究所/机器人技术与系统国家重点实验室。一直从事机器人领域的研究工作，主要研究方向包括仿生机器人、特种机器人、遥操作技术。人机协作技术等。曾承担和参与国家重点研发计划、国家科技支撑计划、国家“863”计划、国家自然科学基金集成项目等各类国家级项目30余项，发表SCI、EI检索高水平学术论文70余篇，出版机器人专著1部，申请并授权国家发明专利50余项，荣获省部级奖励特等奖1项、一等奖2项、二等奖1项。教育经历 1999年——2005年哈尔滨工业大学博士学位 1997年——1999年哈尔滨工业大学硕士学位 1993年——1997年天津大学学士学位获奖情况 2014年黑龙江省科学技术发明奖一等奖 2014年黑龙江省机械工业科学技术奖一等奖

研究领域

方向一：双足步行机器人双足步行从生物力学角度可分为基于主动控制的运动和基于被动行走的运动。主动控制的双足机器人可实现多种运动步态，但存在着能耗大、步态僵硬等问题。而被动行走机器人，其步行效率高、步态自然等，但实用性不高。如何结合两者的优点，实现自然、高效、多模式的机器人双足运动，是当前双足机器人研究的热点。柔性关节的应用为主被动控制之间提供了重要的桥梁，它使主动控制中引入自然动力学成为可能，并有效减小足地碰撞，提高步行的稳定性和效率。本课题从阻抗特性可控的柔性关节出发，研究双足机器人动态步行方法，包括可变阻抗柔性关节的实现方法，柔性关节的阻抗特性辨识，基于人类启发的步态轨迹生成以及变阻抗控制等。方向二：特殊环境服役机器人针对警用机器人实用性和智能化要求高，作业现场动态及不确定性明显等特点，研究复杂环境感知与环境建模，获取多传感信息和融合处理的高级语义信息，为机器人的运动、操作提供环境信息依据；研究动态环境下自主导航与定位，为机器人系统提供必要的精确位置和导引信息；研究机器人自主移动与作业和人机协作，完成机器人在非结构复杂环境下的自主移动与作业，提升机器人的作业能力。方向三：机器人自主作业机器人的自主作业是机器人领域的关键问题之一。现有的机器人自主作业技术，通常针对特定任务进行设计，作业环境结构化程度高、作业对象比较单一，对于动态、非结构化环境和多形变、多尺度作业目标，难以通过对现有算法通过调节参数或增加训练数据得到明显的性能提升。本课题研究自主作业机器人智能发育验证平台关键技术，开展（1）基于认知和推理机制的机器人动态环境理解与运动目标理解技术；（2）基于结构和局部传感信息的模仿学习与自主学习多层级作业策略规划技术；（3）基于数据驱动的快速动态响应柔顺控制技术等平台相关技术研究，验证多种环境（时变、高动态性、非结构化）下对多种目标物体的柔顺、灵活作业的智能发育方法。

近期论文

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Wang Chao, Zang Xizhe, Zhang Xuehe, Liu Yubin, Zhao Jie. Parameter estimation and object gripping based on fingertip force/torque sensors. Measurement, 2021. Liu Yubin, Heng Shuai, Zang Xizhe, Lin Zhenkun, Zhao Jie. Multiphase Trajectory Generation for Planar Biped Robot Using Direct Collocation Method. Mathematical Problems in Engineering, 2021. Lin Zhenkun, Zang Xizhe, Zhang Xuehe, Liu Yixiang, Heng Shuai. Analysis and control of biped robot with variable stiffness ankle joints. Technology and Health Care, pp. 1-10, 2020. Ding Guanwen, Liu Yubin, Zang Xizhe, Zhang Xuehe, Liu Gangfeng, Zhao Jie. A Task-Learning Strategy for Robotic Assembly Tasks from Human Demonstrations. Sensors, vol. 20, no. 19, 2020. Song Caiwei, Liu Gangfeng, Zhang Xuehe, Zang Xizhe, Xu Congcong, Zhao Jie. Robot complex motion learning based on unsupervised trajectory segmentation and movement primitives. ISA transactions, vol. 97, pp. 325-335, 2020. Wang Chao, Zhang Xuehe, Zang Xizhe, Liu Yubin, Ding Guanwen, Yin Wenxin, Zhao Jie. Feature sensing and robotic grasping of objects with uncertain information: A review, Sensors, vol. 20, no. 13, 2020. Jia Jidong, Zhang Minglu, Zang Xizhe, Zhang He, Zhao Jie. Dynamic parameter identification for a manipulator with joint torque sensors based on an improved experimental design. Sensors, vol. 19, no. 10, 2019. Liu Gangfeng, Song Caiwei, Zang Xizhe, Zhao Jie. Reactive execution of learned tasks with real-time collision avoidance in a dynamic environment. IEEE Access, vol. 6, pp. 57366-57375, 2018. Liu Yixiang, Zang Xizhe, Zhang Niansong, Wu Ming. Design and evaluation of a wearable powered foot orthosis with metatarsophalangeal joint. Applied bionics and biomechanics, 2018. Xizhe Zang, Zhenkun Lin, Xinran Sun, and Yixiang Liu, Biped robot design with variable ankle stiffness, Journal of Mechanics in Medicine and Biology, vol. 17, no. 7, 2017. He Zhang, Rui Wu, Changle Li, Xizhe Zang, Yanhe Zhu, Hongzhe Jin, Xuehe Zhang, Jie Zhao, Adaptive Motion Planning for Hitcr-II Hexapod Robot, Journal of Mechanics in Medicine and Biology, vol. 17, no. 7, 2017. He Zhang, Rui Wu, Changle Li, Xizhe Zang, Xuehe Zhang, Hongzhe Jin, and Jie Zhao, A Force-Sensing System on Legs for Biomimetic Hexapod Robots Interacting with Unstructured Terrain, SENSORS, vol. 17, no. 7, Paper No. 1514, 2017. Xizhe Zang, Yixiang Liu, Wenyuan Li, Zhenkun Lin, and Jie Zhao, Design and Experimental Development of a Pneumatic Stiffness Adjustable Foot System for Biped Robots Adaptable to Bumps on the Ground, Applied Sciences-Basel, vol. 7, no. 10, 1005, 2017. Xizhe Zang, Yixiang Liu, Shuai Heng, Zhenkun Lin, and Jie Zhao, Position control of a single pneumatic artificial muscle with hysteresis compensation based on modified Prandtl-Ishlinskii model, Bio-Medical Materials and Engineering, vol. 28, no. 2, pp. 131-140, 2017. Yixiang Liu, Xizhe Zang, Shuai Heng, Zhenkun Lin, and Jie Zhao, Human-like walking with heel-off and toe-support for biped robot, Applied Sciences-Basel, vol. 7, no. 5, 499, 2017. Yixiang Liu, Xizhe Zang, Zhenkun Lin, Xinyu Liu, and Jie Zhao, Modeling Length/Pressure Hysteresis of a Pneumatic Artificial Muscle using Modified Prandtl-Ishlinskii Model, Strojni？ki vestnik- Journal of Mechanical Engineering, vol. 63, no. 1, pp. 56-64, 2017. Yixiang Liu, Xizhe Zang, Zhenkun Lin, Wenyuan Li, and Jie Zhao, Position control of a bio-inspired semi-active joint with direct inverse hysteresis modeling and compensation, Advances in Mechanical Engineering, vol. 8, no. 11, pp. 1-8, 2016. Chao Zhang, Xizhe Zang, Zhengfei Leng, Hongying Yu, Jie Zhao, and Yanhe Zhu, Human-machine force interaction design and control for the HIT load-carrying exoskeleton, Advances in Mechanical Engineering, vol. 8, no. 4, 2016. Xizhe Zang, Sajid Iqbal, Yanhe Zhu, Xinyu Liu, and Jie Zhao, Applications of Chaotic Dynamics in Robotics, International Journal of Advanced Robotic Systems, vol. 13, no. 2, 2016. Xizhe Zang, Xinyu Liu, Yixiang Liu, Sajid Iqbal, and Jie Zhao, Influence of the swing ankle angle on walking stability for a passive dynamic walking robot with flat feet, Advances in Mechanical Engineering, vol. 8, no. 3, pp. 1-13, 2016. Xizhe Zang, Yixiang Liu, Zhenkun Lin, Can Zhang, and Jie Zhao, Two multi-linked rescue robots: design, construction and field tests, Journal of Advanced Mechanical Design, Systems, and Manufacturing, vol. 10, no. 6, pp. 1-12, 2016. Xizhe Zang, Xinyu Liu, Yanhe Zhu, and Jie Zhao, Study of human walking patterns based on the parameter optimization of a passive dynamic walking robot, Technology & Health Care, vol. 24, pp. S849-S858, 2016. Xizhe Zang, Yixiang Liu, Xinyu Liu, and Jie Zhao, Design and control of a pneumatic musculoskeletal biped robot, Technology & Health Care, vol. 24, pp. S443-S454,2016. Xinyu Liu, Xizhe Zang, Yanhe Zhu, Yixiang Liu, and Jie Zhao, System overview and walking dynamics of a passive dynamic walking robot with flat feet, Advances in Mechanical Engineering, vol. 7, no. 12, pp. 1-10, 2015. Yixiang Liu, Xizhe Zang, Xinyu Liu, and Lin Wang, Design of a biped robot actuated by pneumatic artificial muscles, Bio-Medical Materials and Engineering, vol. 26, no. s1, pp. S757-S766, 2015. Sajid Iqbal, Xizhe Zang, Yanhe Zhu, and Jie Zhao, Bifurcations and chaos in passive dynamic walking: a review, Robotics and Autonomous Systems, vol. 62, no. 6, pp. 889-909, 2014. Jie Zhao, Xiaoguang Wu, Xizhe Zang, and Jihong Yan, The Analysis on Period Doubling Bifurcation and Chaos Mirror of Biped Passive Dynamic Robot Gait, Chinese Science Bulletin, vol. 57, no. 14, pp. 1743-1750, May 2012. Junqiang Li, Xizhe Zang, Jie Zhao, Optimization design and mechanic characteristic experiment of the rotary magnetorheological damper, Journal of Mechanical Engineering, vol.46, no.5, pp.177-182, 2010. Jie Zhao, Gangfeng Liu, Jihong Yan, and Xizhe Zang, Scout robot with wheeling-hopping combination locomotion, Industrial Robot-an International Journal, vol. 36, no. 3, pp. 244-248, 2009. Meng Wang, Xizhe Zang, Jizhuang Fan, and Jie Zhao, Biological Jumping Mechanism Analysis and Modeling for Frog Robot, Journal of Bionic Engineering, vol.5, no.3, pp.181-188, 2008. 会议论文 Xizhe Zang, Jiaqi Song, Yixiang Liu, and Xinyu Zhou, Design of a Pneumatic Variable Stiffness Ankle Joint, in Proceedings of the 2018 IEEE International Conference on Intelligence and Safety for Robotics (IEEE ISR 2018), Shenyang, China, Aug. 24-27, 2018. Yixiang Liu, Xizhe Zang, Xinyu Zhou, and Yubin Liu, Development of a Complete Multi-phase Dynamics Model for a Biped Robot, in Proceedings of the 2018 IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2018), Changchun, China, Aug. 5-8, 2018. Yixiang Liu, Xizhe Zang, Niansong Zhang, and Ming Wu, Gait Symmetry Can Reduce Dependence on the Intact Limb during Walking with Restriction of Unilateral Metatarsophalangeal Joints, in Proceedings of the 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’18), Honolulu, HI, USA, July 17-21, 2018. Yixiang Liu, Xizhe Zang, Niansong Zhang, Yubin Liu, and Ming Wu, Effects of Unilateral Restriction of the Metatarsophalangeal Joints on Biped Robot Walking, in Proceedings of the 8th International Conference on Information Science and Technology (ICIST 2018), Cordoba, Granada, and Seville, Spain, June 30-July 6, 2018. Yixiang Liu, Xizhe Zang, Zhenkun Lin, and Jie Zhao, Concept and Design of a Lightweight Biped Robot for Walking on Rough Terrain, in Proceedings of 2017 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2017), Macau, China, Dec. 5-8, 2017. Xinyu Liu, Xizhe Zang, Yongsheng Gao, Yixiang Liu, and Zhenkun Lin, Development of a Passive Dynamic Walking Robot Based on Mechanical Structural Parameters Optimization, in Proceedings of 2017 IEEE International Conference on Advanced Intelligent Mechatronics (IEEE AIM 2017), Munich, Germany, July 3-7, 2017. Yixiang Liu, Xizhe Zang, Changle Li, Shuai Heng, Zhenkun Lin, and Jie Zhao, Design and control of a pneumatic-driven biomimetic knee joint for biped robot, in Proceedings of 2017 IEEE International Conference on Advanced Intelligent Mechatronics (IEEE AIM 2017), Munich, Germany, July 3-7, 2017. Xizhe Zang, Zhenkun Lin, Yixiang Liu, Xinran Sun, Jie Zhao, Control Strategy Research for a Biped Walking Robot with Flexible Ankle Joints, in Proceedings of the First IEEE International Conference on Robotic Computing (IEEE IRC 2017), Taichung, Taiwan, April 10-12, 2017. Xizhe Zang, Wenyuan Li, Yixiang Liu, Zhenkun Lin, and Jie Zhao, The Development of Pneumatic Stiffness-Adjustable Foot for Bipedal Robot, in Proceedings of the 2017 IEEE 2nd Advanced Information Technology, Electronic and Automation Control Conference (IEEE IAEAC 2017), Chongqing, China, March 25-26, 2017. Yixiang Liu, Xizhe Zang, Zhenkun Lin, Xinyu Liu, and Jie Zhao, A Bio-inspired Knee Joint for Biped Robots, in Proceedings of 2016 IEEE International Conference on Information and Automation (IEEE ICIA 2016), Ningbo, China, July 31-August 4, 2016. Xizhe Zang, Zhenkun Lin, Yixiang Liu, Yanhe Zhu, and Jie Zhao, The Design of Pipe Cutting Tools for Remote Handling in Maintenance Manipulator for Tokamak, in Proceedings of the 14th International Conference on Intelligent Autonomous Systems (IAS-14), Shanghai, China, July 3-7, 2016. Xizhe Zang, Can Zhang, Yixiang Liu, and Jie Zhao, Environment Feature Recognition Algorithm for Rescue Robot Based on a 2D Laser Radar, in Proceedings of the 2016 IEEE International Conference on Real-time Computing and Robotics (IEEE RCAR 2016), Angkor Wat, Cambodia, June 6-10, 2016. Shengxin Wang, Yongsheng Gao, Feiyun Xiao, Xizhe Zang, Yanhe Zhu, and Jie Zhao, Estimation of Tremor Parameters and Extraction Tremor from Recorded Signals for Tremor Suppression, in Proceedings of the 2016 IEEE International Conference on Robotics and Automation (IEEE ICRA 2016), Stockholm, Sweden, May 16-21, 2016. Sajid Iqbal, Xizhe Zang, Yanhe Zhu, Saad H M A A, Jie Zhao,Nonlinear Time-Series Analysis of Different Human Walking Gaits, in Proceedings of the 2015 IEEE International Conference on Electro/Information Technology (IEEE EIT 2015), Dekalb, IL, May 21-23, 2015 Xizhe Zang, Yixiang Liu, and Jibin Wang, Development of a Multi-linked Tracked Jack Robot, in Proceedings of 2014 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2014), Bali, Indonesia, December 05-10, 2014. Xinyu Liu, Xizhe Zang, and Jie Zhao, Effects of PD control parameter on walking characteristics of a passive dynamic walker with torso, in Proceedings of 2014 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2014), Bali, Indonesia, December 05-10, 2014. Sajid Iqbal, Xizhe Zang, Yanhe Zhu, Yan Yan Chen, and Jie Zhao, On the Impact of MOOCs on Engineering Education, in Proceedings of the 2014 IEEE International Conference on MOOCs, Innovation and Technology in Education (IEEE MITE 2014), Thapar Univ, Patiala, INDIA, December 19-20, 2014. Yanhe Zhu, Jixing Yang, Hongzhe Jin, Xizhe Zang, and Jie Zhao, Design and Evaluation of a Parallel-Series Elastic Actuator for Lower Limb Exoskeletons, in Proceedings of the 2014 IEEE International Conference on Robotics and Automation (IEEE ICRA 2014), Hong Kong, China, May 31-June 07, 2014. Xizhe Zang, Yixiang Liu, and Yanhe Zhu, Structure Design of a Mobile Jack Robot, in Proceedings of 2013 IEEE International Conference on Information and Automation (IEEE ICIA 2013), Yinchuan, China, August 26-28, 2013. Jie Zhao, Xiaoguang Wu, Xizhe Zang, Yanhe Zhu, and Lei Zhu, The analysis on period doubling gait and chaotic gait of the compass-gait biped model, in Proceedings of the 2011 IEEE International Conference on Robotics and Automation (IEEE ICRA 2011), Shanghai, China, 2011.