胡楚雄 - 清华大学 - 机械工程系

个人简介

教育背景 2000-2005，浙江大学机械电子工程专业(五年制)，工学学士 2005-2010，浙江大学机械电子工程专业，工学博士 2007-2008，美国普渡大学机械工程系，国家公派联合培养工作履历 2010-2013，清华大学精仪系制造所，博士后 2013-至今，清华大学机械系机电所，助理研究员、助理教授、准聘副教授、长聘副教授 2018-2018，美国加州大学伯克利分校，访问学者 2018-2020，清华大学党委办公室副主任(挂职) 2020-2022，清华大学机械系党委副书记 2022-至今，清华大学机械系副系主任奖励荣誉 2023年获国家级教学成果奖一等奖 2022年清华大学青教奖 2022年清华大学良师益友 2022年国家自然科学基金委优秀结题项目 2022年北京市教育教学成果奖一等奖和二等奖 2021年清华大学教学成果奖一等奖 2020年清华大学青教赛一等奖 2020年负责的课程入选首批国家级一流本科课程 2019年北京市自然科学基金杰青项目资助 2019年国家自然科学基金优青项目资助 2018年北京市技术发明奖一等奖 2017年清华大学学术新人奖 2013年全国百篇优秀博士论文提名 2012年清华大学优秀博士后 2012 Best Mechatronics Paper Award from ASME Dynamic Systems and Control Division 2011年中国机械工程学会上银优秀机械博士论文奖 2010年浙江大学竺可桢奖

研究领域

精密机电智能控制。围绕集成电路制造装备、数控技术与智能装备、机器人开展精密机电智能控制研究工作，注重理论原创和实际应用，研究兴趣包括精密/超精密机电运动系统、精密运动控制与轨迹规划、智能学习与预测、机器人智能控制、医工交叉等

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）

Y. Wang, C. Hu, Z. Wang, S. Lin, Z. Zhao, W. Zhao, K. Hu, Z. Huang, Y. Zhu, and Z. Lu, “Optimization-Based Non-Equidistant Toolpath Planning for Robotic Additive Manufacturing with Non-Underfill Orientation,” Robotics and Computer-Integrated Manufacturing, vol. 84, pp. 102599, Dec. 2023. Z. Zhao, C. Hu, Z. Wang, S. Wu, Z. Liu, and Yu Zhu, “Back EMF-Based Dynamic Position Estimation in the Whole Speed Range for Precision Sensorless Control of PMLSM,” IEEE Transactions on Industrial Informatics, vol. 19, no. 5, pp. 6525-6536, May 2023. H. Fu, C. Hu, M. Zhang, and Y. Zhu, “Integrated Optimization of 3D Structural Topology and 2D Halbach Parameters for Maglev Planar Motor,” Materials & Design, vol. 230, pp. 111945, Jun. 2023. S. Wu, C. Hu, Z. Zhao, and Y. Zhu, “High Accuracy Sensorless Control of Permanent Magnet Linear Synchronous Motors for Variable Speed Trajectories,” IEEE Transactions on Industrial Electronics, 2023, DOI: 10.1109/TIE.2023.3288145. Z. Wang, R. Zhou, C. Hu, and Y. Zhu, “Online Iterative Learning Compensation Method Based on Model Prediction for Trajectory Tracking Control Systems,” IEEE Transactions on Industrial Informatics, vol. 18, no. 1, pp. 415–425, Jan. 2022. W. Zhao, C. Hu, T. Xu, S. Lin, Z. Wang, and Y. Zhu, “Subaqueous Bioprinting: A Novel Strategy for Fetal Membrane Repair with 7-Axis Robot-Assisted Minimally Invasive Surgery,” Advanced Functional Materials, vol. 32, no. 51, pp. 2207496, Dec. 2022. S. He, W. Zhao, C. Hu, Y. Zhu, and C. Liu, “A hierarchical long short term safety framework for efficient robot manipulation under uncertainty,” Robotics and Computer-Integrated Manufacturing, vol. 82, pp. 102522, Aug. 2023. C. Hu, T. Ou, H. Chang, Y. Zhu, and L. Zhu, “Deep GRU Neural Network Prediction and Feedforward Compensation for Precision Multiaxis Motion Control Systems,” IEEE-ASME Transactions on Mechatronics, vol. 25, no. 3, pp. 1377–1388, Jun. 2020. R. Zhou, C. Hu, Z. Wang, S. He, and Y. Zhu, “Nonlinearity Compensation and High-frequency Flexibility Suppression Based RIC Method for Precision Motion Control Systems,” IEEE Transactions on Industrial Informatics, vol. 19, no. 2, pp. 1332-1342, Feb. 2023. W. Wang, C. Hu, K. Zhou, and Z. Wang, “Time Parameter Mapping and Contour Error Precompensation for Multi-axis Input Shaping,” IEEE Transactions on Industrial Informatics, vol. 19, no. 3, pp. 2640-2651, Mar. 2023. T. Ou, C. Hu, Y. Zhu, M. Zhang, and L. Zhu, “Intelligent Feedforward Compensation Motion Control of Maglev Planar Motor With Precise Reference Modification Prediction,” IEEE Transactions on Industrial Electronics, vol. 68, no. 9, pp. 7768–7777, Sep. 2021. T. Ou, C. Hu, Yu Zhu, and Ming Zhang, “Generation Mechanism and Decoupling Strategy of Coupling Effect in Maglev Planar Motor,” IEEE-ASME Transactions on Mechatronics, vol. 28, no. 2, pp. 781-791, April 2023. Z. Wang, C. Hu, Y. Zhu, and L. Zhu, “Prediction Model based Contouring Error Iterative Pre-Compensation Scheme for Precision Multi-axis Motion Systems,” IEEE-ASME Transactions on Mechatronics, vol. 26, no. 5, pp. 2274-2284, Oct. 2021. Z. Wang, R. Zhou, C. Hu, and Y. Zhu, “Real-Time Iterative Compensation Based Contouring Control Method for Polar Coordinate Motion Systems,” IEEE-ASME Transactions on Mechatronics, vol. 27, no. 5, pp. 3517-3526, Oct. 2022. Z. Wang, C. Hu, and Y. Zhu, “Accelerated Iteration Algorithm Based Contouring Error Estimation for Multiaxis Motion Control,” IEEE-ASME Transactions on Mechatronics, vol. 27, no. 1, pp. 452–462, Feb. 2022. C. Hu, R. Zhou, Z. Wang, Y. Zhu, and M. Tomizuka, “Real-Time Iterative Compensation Framework for Precision Mechatronic Motion Control Systems,” IEEE-CAA Journal of Automatica Sinica, vol. 9, no. 7, pp. 1218–1232, Jul. 2022. W. Wang, C. Hu, K. Zhou, S. He, and L. Zhu, “Local asymmetrical corner trajectory smoothing with bidirectional planning and adjusting algorithm for CNC machining,” Robotics and Computer-Integrated Manufacturing, vol. 68, pp. 102058, Apr. 2021. C. Hu, J. Yu, Z. Wang, and Y. Zhu, “An iterative contouring error compensation scheme for five-axis precision motion systems,” Mechanical Systems and Signal Processing, vol. 178, pp. 109226, Oct. 2022. C. Hu, S. Lin, Z. Wang, and Y. Zhu, “Task Space Contouring Error Estimation and Precision Iterative Control of Robotic Manipulators,” IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 7826–7833, Jul. 2022. J. Wang, C. Hu, and Y. Zhu, “CPG-Based Hierarchical Locomotion Control for Modular Quadrupedal Robots Using Deep Reinforcement Learning,” IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 7193–7200, Oct. 2021. J. Wang, S. Lin, C. Hu, Y. Zhu, and L. Zhu, “Learning Semantic Keypoint Representations for Door Opening Manipulation,” IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 6980–6987, Oct. 2020 S. He, C. Hu, Y. Zhu, and M. Tomizuka, “Time optimal control of triple integrator with input saturation and full state constraints,” Automatica, vol. 122, pp. 109240, Dec. 2020. C. Hu, T. Ou, Y. Zhu, and L. Zhu, “GRU-Type LARC Strategy for Precision Motion Control With Accurate Tracking Error Prediction,” IEEE Transactions on Industrial Electronics, vol. 68, no. 1, pp. 812–820, Jan. 2021. W. Zhao, C. Hu, and T. Xu, “In vivo bioprinting: Broadening the therapeutic horizon for tissue injuries,” Bioactive Materials, vol. 25, pp. 201-222, Jul. 2023. L. Liu, C. Hu, T. Ou, Z. Wang, Y. Zhu, N. Na, “Selective Detection of Mixtures via a Single Non-Selective Sensor — Making the Unworkable Sensor Workable by Machine Learning,” Advanced Intelligent Systems, vol. 5, no. 1, pp. 2200136, Jan. 2023.