机械工程、兵器科学与技术

智能机器人、仿人机器人

2003年09月—2007年07月 151amjs澳金沙门 探测制导与控制技术专业 本科
2007年09月—2013年07月 151amjs澳金沙门 仿生技术专业 博士
2011年10月—2012年10月 美国卡内基梅隆大学 机器人研究中心 访问学者

2013年07月—2018年07月 151amjs澳金沙门 讲师、硕士生导师
2018年07月—2020年07月 151amjs澳金沙门 副教授、硕士生导师
2017年09月—2018年09月 美国康奈尔大学 访问科学家
2020年07月—2021年12月 151amjs澳金沙门 副教授、博士生导师
2022年01月—至今 151amjs澳金沙门 教授、博士生导师

成果简介：

长期从事仿人机器人运动控制、关节驱动、系统集成等基础科学和前沿技术研究。主持国家重点研发计划政府间国际合作项目、国家自然科学基金、北京市自然科学基金等科研项目10余项；在相关领域国内外期刊发表学术论文20 余篇，获授权国家发明专利30余项、国际发明专利10余项。代表性论著：

1、Lianqiang Han, Xuechao Chen*, Zhangguo Yu, Jintao Zhang, Zhifa Gao, Qiang Huang, Enhancing speed recovery rapidity in bipedal walking with limited foot area using DCM predictions, Expert Systems With Applications, Volume 250, 15 September 2024, 123858.

2、Chencheng Dong, Xuechao Chen*, Zhangguo Yu, Huaxin Liu, Fei Meng, Qiang Huang. Swift Running Robot Leg: Mechanism Design and Motion-guided Optimization, IEEE/ASME Transactions on Mechatronics, Oct. 2023, 10.1109/TMECH.2023.3319821.

3、Huanzhong Chen, Xuechao Chen*, Chencheng Dong, Zhangguo Yu, Qiang Huang, Online Running Pattern Generation for Humanoid Robot With Direct Collocation of Reference-Tracking Dynamics, IEEE/ASME Transactions on Mechatronics, 10.1109/TMECH.2023.3313588, Sept 2023.

4、Haoxiang Qi, Xuechao Chen*, Zhangguo Yu*, Gao Huang, Yaliang Liu, Libo Meng, Qiang Huang. Vertical Jump of a Humanoid Robot With CoP-Guided Angular Momentum Control and Impact Absorption, IEEE Transactions on Robotics, May 12, 2023, vol. 39, no. 4, pp. 3154-3166.

5、Zhifa Gao, Xuechao Chen*, Zhangguo Yu, Chao Li, Lianqiang Han, Runming Zhang, Global Footstep Planning with Greedy and Heuristic Optimization Guided by the Velocity of a Biped Robot, Expert Systems With Applications, 15 March 2024, vol. 238, part C, 121798.

6、Yaliang Liu, Xuechao Chen*, Zhangguo Yu, Han Yu, Libo Meng, Hiroshi Yokoi. High-precision dynamic torque control of high stiffness actuator for humanoids, ISA Transactions, July 2023, online, DOI: https://doi.org/10.1016/j.isatra.2023.06.031.

7、 Lianqiang Han, Xuechao Chen*, Zhangguo Yu*, Xishuo Zhu, Kenji Hashimoto and Qiang Huang, Trajectory-Free Dynamic Locomotion Using Key Trend States for Biped Robots with Point Feet, SCIENCE CHINA: Information Sciences, 2022, doi: 10.1007/s11432-021-3450-5.

8、Chencheng Dong, Zhangguo Yu*, Xuechao Chen*, Huangzhong Chen, Yan Huang and Qiang Huang, Adaptability Control Towards Complex Ground Based on Fuzzy Logic for Humanoid Robots, IEEE Transactions on Fuzzy Systems, April 14, 2022, 30(6): 1574-1584.

9、 Qingqing Li, Fei Meng, Zhangguo Yu*, Xuechao Chen*, Qiang Huang, Dynamic Torso Compliance Control for Standing and Walking Balance of Position-Controlled Humanoid Robots, IEEE/ASME Transactions on Mechatronics, February 24, 2021, 26(2): 679-688.

10、Jingping Liao, Gao Huang, Xuechao Chen*, Zhangguo Yu, Qiang Huang, A guide-weight criterion-based topology optimization method for maximizing the fundamental eigenfrequency of the continuum structure, Structural and Multidisciplinary Optimization, June 29, 2021, 64: 2135-2148.

11、Xuechao Chen, Wenpeng Ding, Zhangguo Yu*, Libo Meng, Marco Ceccarelli, Qiang Huang, Combination of Hardware and Control to Reduce Humanoids Fall Damage, International Journal of Humanoid Robotics, 2020, 17(1): 1-23.

12、Zhangguo Yu, Qinqin Zhou, Xuechao Chen*, Qingqing Li, Libo Meng, Weimin Zhang, Qiang Huang*, Disturbance Rejection for Biped Walking using Zero-Moment Point Variation Based on Body Acceleration, IEEE Transactions on Industrial Informatics, 2019, 15(4): 2265-2276.

13、Zhangguo Yu, Mingyue Qin, Xuechao Chen*, Libo Meng, Qiang Huang*, Chenglong Fu, Computationally Efficient Coordinate Transformation for Field-Oriented Control Using Phase Shift of Linear Hall-Effect Sensor Signals, IEEE Transactions on Industrial Electronics, May 2019, 67(5): 3442-3451.

14、 Xuechao Chen, Zhangguo Yu*, Weimin Zhang, Yu Zheng, Qiang Huang*, Aiguo Ming, Bioinspired Control of Walking with Toe-off, Heel-strike and Disturbance Rejection for a biped robot, IEEE Transactions on Industrial Electronics, Oct 2017, 64(10): 7962-7971.

15、Xuechao Chen, Qiang Huang, Zhangguo Yu, Jing Li, Gan Ma, Libo Meng, Junyao Gao, Realization of foot rotation by breaking the kinematic contact constraint, Robotica, May 2016, 34(5): 1059-1070.

16、Xuechao Chen, Qiang Huang, Zhangguo Yu, Yuepin Lu, Robust Push Recovery by Whole-Body Dynamics Control with Extremal Accelerations, Robotica, May 2014, 32(3): 467-476.

1、主要讲授课程:
（1）本科生课程《机器人学》、《创新创业实践-智能机器人》
（2）研究生课程《机器人系统设计与应用》
2、指导硕士毕业生获得北京市优秀毕业生称号

1、2021年度国家“万人计划”青年拔尖人才支持计划
2、2020年度教育部技术发明奖一等奖
3、2018年度国家技术发明奖二等奖
4、2016年度教育部技术发明奖一等奖

1、国际期刊IEEE RAL编委（2020-至今）
2、IEEE TIE、TMech等国际期刊和IEEE IROS、ICRA、Humanoids等国际会议的审稿人