李长乐 - 哈尔滨工业大学

个人简介

李长乐，男，哈尔滨工业大学机器人研究所博士, 副研究员，博士生导师,中国机电一体化技术应用协会理事；主要从事人机协作机器人、模块化机器人、医疗机器人、机器视觉、载人航天测试系列装备等研究；作为负责人主持承担了国家级项目10余项，包括国家自然科学基金、国家863计划、国家科技重大专项、国家核聚变能研究发展专项、载人航天重大工程项目等。获黑龙江省技术发明一等奖1项，黑龙江省科技进步二等奖1项。发表SCI/EI检索论文30余篇，发明专利70余项。工作经历哈尔滨工业大学机电工程学院，博士生导师 2022/05-至今哈尔滨工业大学机电工程学院，副研究员 2018/01-至今哈尔滨工业大学机电工程学院，讲师 2010/05-2017/12 荣誉称号中国机械工业科技进步特等奖黑龙江省科学技术发明奖，二等奖黑龙江省科学技术发明奖，一等奖

研究领域

柔性触觉传感研究机器人主从硬件平台与控制方法研究机器人穿刺技术研究可操纵柔性针研究

近期论文

查看导师新发文章（温馨提示：请注意重名现象，建议点开原文通过作者单位确认）

Li, C., Zhang, L., Zhang, X., Liu, G. and Zhao, J., 2023. A compliant actuator for steering the needle within tissue with feedback of FBG-based shape sensing. Sensors and Actuators A: Physical, 356, p.114340. Xu, C., Liu, G., Li, C., Zhu, Y. and Zhao, J., 2023. Dynamic modeling and identification of low impact docking mechanism based on symmetric excitation trajectory. Nonlinear Dynamics, pp.1-19. Li, C., Yao, C., Xu, S., Zhang, L., Fan, Y. and Zhao, J., 2023. An image-based visual servo system to operate a flexible wire. Robotic Intelligence and Automation, 43(1), pp.3-11. Zhang, Q., Li, C., Jing, H., Li, H., Li, X., Ju, H., Tang, Y., Zhao, J. and Zhu, Y., 2022. Rtsras: a series-parallel-reconfigurable tendon-driven supernumerary robotic arms. IEEE Robotics and Automation Letters, 7(3), pp.7407-7414. Zhang, L., Li, C., Dong, H., Liu, X., Sun, T., Grattan, K.T. and Zhao, J., 2023. Fiber Bragg Grating-based sensor system for sensing the shape of flexible needles. Measurement, 206, p.112251. X. Tong, X. Zhang, G. Liu, C. Li and J. Zhao, "Research on Surface Defect Detection Technology of Long-Distance and Long-Span FAST Cable," 2023 9th International Conference on Mechatronics and Robotics Engineering (ICMRE), Shenzhen, China, 2023, pp. 225-228. X. Sun, G. Liu, X. Zhang, C. Li and J. Zhao, "A Positioning Method Based on Kalman Filter for FAST Feed Support Cable Inspection Robot," 2023 9th International Conference on Mechatronics and Robotics Engineering (ICMRE), Shenzhen, China, 2023, pp. 65-71. C. Li, C. Zhang, C. Y. Yu, L. Zhang, G. Liu and J. Zhao, "A novel design of force-feedback master manipulator for remote ultrasound scanning," 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO), Jinghong, China, 2022, pp. 2317-2321. Q. Zhang et al., "RTSRAs: A Series-Parallel-Reconfigurable Tendon-Driven Supernumerary Robotic Arms," in IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 7407-7414, July 2022. C. Song, G. Liu, C. Li and J. Zhao, "Reactive Task Adaptation of a Dynamic System With External Disturbances Based on Invariance Control and Movement Primitives," in IEEE Transactions on Cognitive and Developmental Systems, vol. 14, no. 3, pp. 1082-1091, Sept. 2022. Y. Hua, Y. Zhu, C. Li, J. Zhao and Y. Zhu, "Assistance Control of Human-Exoskeleton Integrated System for Balance Recovery Augmentation in Sagittal Plane," in IEEE Transactions on Industrial Electronics, vol. 69, no. 1, pp. 528-538, Jan. 2022. C. Li et al., "Adaptive Step Puncture Strategy Based on Online Identification of Tissue Shore Hardness," 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO), Sanya, China, 2021, pp. 149-153. L. Zhang et al., "A New Method For Fiber Bragg Grating Based Needle Shape Sensing Calibration," 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dali, China, 2019, pp. 1953-1958. G. Ban et al., "Design of A Close-range Radiotherapy Particle Implantation Device," 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dali, China, 2019, pp. 1331-1337. G. Zhang et al., "An Adaptable Robotic System for Assembling Irregular Earphone Parts on Factory Automation," 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dali, China, 2019, pp. 52-58. G. Liu, H. Mo, C. Li, G. Li and L. Li, "Design of A Negative Pressure Adsorption Pipeline Robot for Omni-directional Mobility," 2019 IEEE International Conference on Mechatronics and Automation (ICMA), Tianjin, China, 2019, pp. 1448-1452. C. Yang, C. Li, F. Xia, Y. Zhu, J. Zhao and K. Youcef-Toumi, "Charge Controller With Decoupled and Self-Compensating Configurations for Linear Operation of Piezoelectric Actuators in a Wide Bandwidth," in IEEE Transactions on Industrial Electronics, vol. 66, no. 7, pp. 5392-5402, July 2019. C. Yang, C. Li and J. Zhao, "A Nonlinear Charge Controller With Tunable Precision for Highly Linear Operation of Piezoelectric Stack Actuators," in IEEE Transactions on Industrial Electronics, vol. 64, no. 11, pp. 8618-8625, Nov. 2017. G. Liu, Z. Xie, G. Li, C. Li, J. Zhao and L. Li, "Optimization of the impedance controller for the low impact docking," 2016 IEEE International Conference on Information and Automation (ICIA), Ningbo, China, 2016, pp. 403-408. C. Li, Y. Zhang, G. Liu and J. Yan, "Trajectory optimization of spraying manipulator for large hull section," 2016 IEEE International Conference on Information and Automation (ICIA), Ningbo, China, 2016, pp. 1438-1443. Z. Meng, C. Li, G. Li, J. Zhao and J. Yan, "Research of positioning method for automatic spraying on large ship block surfaces," 2016 IEEE International Conference on Real-time Computing and Robotics (RCAR), Angkor Wat, Cambodia, 2016, pp. 431-436. Z. Xie, G. Liu, C. Li, G. Li, J. Zhao and L. Li, "Research of the low impact space docking mechanism based on impedance control strategy," 2016 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), Auckland, New Zealand, 2016, pp. 1-6. G. Liu, C. Li, G. Li, X. Yu and L. Li, "Automatic space calibration of a medical robot system," 2016 IEEE International Conference on Mechatronics and Automation, Harbin, China, 2016, pp. 465-470. J. Zhao, Z. -w. Zhou, G. Li, C. -l. Li, H. Zhang and W. -b. Xu, "The apposite way path planning algorithm based on local message," 2012 IEEE International Conference on Mechatronics and Automation, Chengdu, China, 2012, pp. 1563-1568. C. -l. Li, J. -z. Fan and J. Zhao, "Research on the Reconfigurable Image Processing System," 2008 Second International Symposium on Intelligent Information Technology Application, Shanghai, China, 2008, pp. 284-288.