王巍 Wei Wang

出生年月
1973.07.18
籍　　贯
湖北郧县

职　　称
　教授
学　　历
　博士

电　　话

办 公 室
新主楼A314

系　　别
　机器人研究所
职　　务

电子信箱
　wangweilab@buaa.edu.cn
传　　真


个人主页
http://robot.buaa.edu.cn/personality
/dept7-wangwei.htm

◆学习经历

n 1990.09~1994.07 哈尔滨工程大学机电学院 本科/学士 机械设计及制造
n 1994.09~1997.04 哈尔滨工程大学机电学院 研究生/硕士 机械电子工程
n 1997.09~2000.10 北京航空航天大学机器人研究所 研究生/博士 机械电子工程

◆工作经历

n 2001.03~2003.03 北京航空航天大学理学院 博士后 控制理论与控制工程
n 2003.05~2012.08 北京航空航天大学机器人研究所 讲师/副教授 机械电子工程
n 2008.09~2009.08 德国汉堡大学 公派访问
n 2012.09~现在 北京航空航天大学机器人研究所 教授 机械电子工程

◆研究领域

n 复杂机电装备设计与控制
n 重点研究电动负载模拟器，天线测试扫描架等的结构设计、运动控制、力位混合控制、系统集成。
n 自重构移动机器人
n 研究野外环境中移动作业的多机器人系统，机器人之间可通过对接形成构型重组，改变结构形态，提高地形适应性。
n 小型仿生爬壁机器人
n 该项研究包括爬壁机器人的小型化、仿生构型、仿生步态、仿生附着等，重点研究具有多运动模态的小型爬壁机器人系统。

◆荣誉及奖励

n 2007年，入选北京市“科技新星”计划；
n 2008年，获AIM2008国际会议最佳论文奖；
n 2009年，或AIM2009国际会议最佳论文奖提名。

◆开授课程

本科生：机械原理，机械设计课程设计
研究生：自主移动机器人导论

◆教学及科研成果

主持1项校级教改项目；培养研究生18人，其中已毕业13人；主持纵向课题5项，包括：已完成国家863项目1项，国家自然基金项目2项，北京市科技新星1项，工信部“唯实”基金3项；主持横向课题8项：包括航天科工集团项目4项、其他企业项目4项，其中已完成6项、在研2项。取得了如下科研成果：发表论文70余篇，EI/ISTP检索论文23篇，SCIE检索14篇，1篇论文被评为国际会议优秀论文；获批国家发明专利13项，均为第一申请人；出版译著4部。
发表的部分论文：
王巍、宗光华，“灵巧壁面移动机器人运动学和动力学研究”，北京航空航天大学学报，Vol.29, No.9, Sept. 2003, pp:763~766 (EI: 78)
Wei Wang and Guanghua Zong, “Research for the kinematics and dynamics models of a flexible glass-wall cleaning robot”, Journal of Beijing University of Aeronautics and Astronautics, Vol.29, No.9, Sept. 2003, pp:763~766 (in Chinese)
Wei Wang and Guanghua Zong, “Design and Safety Analysis of a Light Deformable Mobile Robot on Glass-Wall”, the Proceeding of 11th IEEE International Conference on Methods and Models in Automation and Robotics, Mi？dzyzdroje, Poland, August 2005, pp:322~326

王巍，唐伯雁，“倒锥面高层玻璃幕墙清洗机器人设计”，北京航空航天大学学报，Vol.32, No.6, June 2006, pp: 738~741（EI: 496）
Wei Wang and Boyan Tang, “Cleaning robot design for cone high-rise glass-curtain wall”, Journal of Beijing University of Aeronautics and Astronautics, Vol.32, No.6, June 2006, pp: 738~741 (in Chinese)
Wei Wang, Houxiang Zhang, Guanghua Zong and Jianwei Zhang, “Design and Realization of a Novel Reconfigurable Robot with Serial and Parallel Mechanisms”, in Proceedings of 2006 IEEE International Conference on Robotics and Biomimetics (ROBIO 2006), Kunming, China, Dec., 2006, pp 697-702 (EI: 709, ISTP: IDS No. BGB31)
王巍，宗光华，“基于‘虚拟范围’的多机器人围捕算法”，航空学报，Vol.28, No.2, March, 2007, pp.508～512 (EI: 970)
Wei Wang and Guanghua Zong, “Hunting Algorithm for Multi-mobile Robot System Based on Virtual Range”, ACTA Aeronautica et Astronautica Sinica, Vol.28, No.2, March, 2007, pp.508～512 (in Chinese)
Wei Wang, Jinghao Qi, Houxiang Zhang and Guanghua Zong, “A Rapid Hunting Algorithm for Multi Mobile Robots System”, in Proceedings of 2007 Second IEEE Conference on Industrial Electronics and Applications (ICIEA 2007), Haerbin, China, May, 2007, pp1023~1027 (EI: 495, ISTP: IDS No. BHC89)
Wei Wang, Houxiang Zhang, Hualei Fu, Jianwei Zhang and Guanghua Zong, “Drivable Workspace Analysis of The Reconfiguration Mechanism in A Mobile Robots System”, in Proceedings of 2007 IEEE International Conference on Robotics and Biomimetics (ROBIO 2007), Sanya, China, Dec. 15-18, 2007, pp: 496-501 (EI: 185, ISTP: IDS NO. BHW67)
Wei Wang, Houxiang Zhang, Wenpeng Yu, Guanghua Zong and Jianwei Zhang, “F&A Compensating Variable Bang-Bang Control Algorithm for Pneumatic Driving Glass-Wall Cleaning Robot”, in Proceedings of 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), San Diego, U.S.A, Oct.29-Nov.02, 2007 (EI: 741, ISTP: IDS No. BHL44)
王巍，张厚祥，邓志诚，宗光华，傅华蕾，基于串并联机构的自重构移动机器人，机械工程学报，Vol.44, No.5, May, 2008, pp.92-101 (EI: 986)
Wei Wang, Houxiang Zhang, Zhicheng Deng, Guanghua Zong and Hualei Fu, “Reconfigurable Mobile Robot Based on Serial and Parallel Mechanism”, Chinese Journal of Mechanical Engineering, Vol.44, No.5, May, 2008, pp.92-101 (in Chinese)
王巍，李然，张厚祥，于文鹏，气动FA补偿变结构Bang-Bang位置伺服算法，航空学报，Vol.29, No.1, Jan., 2008, pp.209～215 （EI: 782）
Wei Wand, Ran Li, Houxiang Zhang and Wenpeng Yu, “FA Compensation Variable Bang-Bang Controller for Pneumatic Position Servo”, ACTA Aeronautica et Astronautica Sinica, Vol.29, No.1, Jan., 2008, pp.209～215 (in Chinese)
王巍，张厚祥，曲面幕墙清洁机器人攀爬技术，北京航空航天大学学报，Vol.34, No.1, Jan. 2008, pp: 17-21 (EI: 944)
Wei Wang and Houxiang Zhang, “Climbing Technique of Cleaning Robot for Spherical Surface”, Journal of Beijing University of Aeronautics and Astronautics, Vol.34, No.1, Jan. 2008, pp: 17-21 (in Chinese)
Wei Wang, Yingying Wang, Jinghao Qi, Houxiang Zhang and Jianwei Zhang, “The CPG Control Algorithm for a Climbing Warm Robot”, in Proceedings of 2008 Third IEEE Conference on Industrial Electronics and Applications (ICIEA 2008), Singapore, 3-5, June, 2008, pp:675-679 ISBN 978-1-4244-1718-6， Paper Code: TUE3-4 (IS-A2)-1 (EI: 083, ISTP: IDS No. BIC09)
Wei Wang, Yingying Wang, Kun Wang, Houxiang Zhang and Jianwei Zhang, “Analysis of the Kinematics of Module Climbing Caterpillar Robots”, in Proceeding of 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2008), Xi’an , China, 2-5 July, 2008, pp.84-89 (EI: 485, ISTP: IDS No. BIJ54, Best Conference Paper Award, Index No.:5).
Wei Wang, Jie Xia and Zhicheng Deng, “Design and Realization of Control System for Reconfigurable Multi-segment Robot”, in Proceedings of the IEEE International Conference on Automation and Logistics (ICAL 2008), Qingdao, China September 2008, pp.123-128 (EI: 102, ISTP: IDS No. BIX25)
Wei Wang, Houxiang Zhang, Guanghua Zong and Jianwei Zhang, “Force Cooperation in a Reconfigurable Field Multi-Robot System”, Journal of Field Robotics, Vol. 25 (Issue 11-12), pp. 922-938 (Nov.-Dec., 2008)（EI: 162, SCI: 004, IDS No. 382BK, Impact factor: 2008-2.684, 2010-3.593, Index No.:5）
王巍，王坤，李大寨，宗光华，爬壁蠕虫机器人构型初探，北京航空航天大学学报，Vol.35, No.2, Feb. 2009, pp: 251-255 (EI: 006)
Wei Wang, Kun Wang, Dazhai Li and Guanghua Zong, “Basic research on configuration of climbing worm robot”, Journal of Beijing University of Aeronautics and Astronautics, Vol.35, No.2, Feb. 2009, pp: 251-255 (in Chinese)
Wei Wang, Houxiang Zhang, Jianwei Zhang and Guanghua Zong, “Valid joint workspace and self-aligning docking conditions of a reconfigurable mobile multi-robots system”, in Proceedings of 2009 ASME/IFToMM International conference on reconfigurable Mechanisms and Robots (ReMAR 2009), London, UK, 22-24 June, 2009, pp. 609-616 (EI: 145, ISTP IDS: BSN02)
W. Wang, H.X. Zhang, K. Wang, J.W. Zhang and W.H. Chen, “Gait control of modular climbing caterpillar robot”, In Proceedings of 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2009), Singapore, July14-17, 2009, pp. 957-962 (EI: 594, IDS No: BON35, Best paper award finalist)
Wei Wang, Houxiang Zhang, Wenpeng Yu and Jianwei Zhang, “Docking Manipulator for a Reconfigurable Mobile Robot System”, in Proceedings of 2009 IEEE International Conference on Intelligent Robots and Systems (IROS 2009), St. Louis, MO, USA, October 11-15, 2009, pp. 1697-1702 (EI: 419， IDS 号: BSQ11)
Wei Wang, Houxiang Zhang and Jianwei Zhang, “Crawling Locomotion of Modular Climbing Caterpillar Robot with Changing Kinematic Chain”, in Proceedings of 2009 IEEE International Conference on Intelligent Robots and Systems (IROS 2009), St. Louis, MO, USA, October 11-15, 2009, pp. 5021-5026 (EI: 915, IDS 号: BSQ11)
Wei Wang, Zongliang Li, Wenpeng Yu, Jianwei Zhang, “An autonomous docking method based on ultrasonic sensors for self-reconfigurable mobile robot”, in Proceedings of 2009 IEEE International conference on Robotics and Biomimetics (ROBIO 2009), Guilin, China, Dec. 19-23, 2009, pp. 1744-1749 (EI: 072, ISTP: IDS No. BSR15)
Wei Wang, Kun Wang, Houxiang Zhang, “Crawling gait realization of the mini-modular climbing caterpillar robot”, Progress in Natural Science, Volume 19, Issue 12, 10 December 2009, pp. 1821-1829 (SCI: IDS No. 521EG, Impact factor: 2010-0.832, 2009-0.704，被引次数1)
Wei Wang, Wenpeng Yu, Houxiang Zhang, “JL2: A Mobile Multi-robot System with Docking and Manipulating Capabilities”, International Journal of Advanced Robotic Systems, Vol. 7, No. 1, March, 2010, pp. 9-18 (EI: 603, SCI: IDS No. 698EH, Index No.:1, 被引次数2，Impact factor: 2010-0.326)
Wei Wang, Kun Wang, Houxiang Zhang and Jianwei Zhang, “Internal Force Compensating Method for Wall-climbing Caterpillar Robot”, 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, USA, May 3-8, 2010, pp. 2816-2820 (EI: 700, ISTP IDS: BSD39)
Wei Wang, Kun Wang, Guanghua Zong, Dazhai Li, “Principle and experiment of vibrating suction method for wall-climbing robot”, Vacuum, vol. 85, No.1, 2010, pp107-112 (SCI: IDS No. 653GK, EI: 526, Impact factor: 2008-1.114, 2010-1.051)
Wei Wang, Boyan Tang, Houxiang Zhang, Guanghua Zong, “Robotic cleaning system for glass facade of high-rise airport control tower”, Industrial Robot: An International Journal, Vol.37, No.5, 2010, pp. 469-478 (SCI: IDS No. 663VY, EI: 727, Impact factor: 2008-0.404, 2009-1.000)
王巍，于文鹏，李雄峰，唐慧霖，李宗良, 多维大偏差刚性对接研究及机构设计, 航空学报, Vol.31, No.9, 2010, pp. 1872-1879 ( EI: 758)
Wang Wei, Yu Wenpeng, Li Xiongfeng, Tang Huilin, Li Zongliang, “Research and Mechanism Design of Rigid Docking Applied for Multi-dimension Position/Orientation Offset”, ACTA AERONAUTICA ET ASTRONAUTICA SINICA, Vol.31, No.9, 2010, pp. 1872-1879
Wei Wang, Houxiang Zhang, Wenpeng Yu, “Design and Realization of Multimobile Robot System With Docking Manipulator”, Journal of Mechanical Design, Vol. 132, NOVEMBER 2010, pp. 114502-1~114502-8 (SCI: IDS No. 684IB, EI: 512, Impact factor: 2008-1.532, 2009-0.869)
王巍，李雄峰，张新华，于文鹏. 机械式反操作负载模拟器优化设计与仿真. 北京航空航天大学学报, Vol.37, No.2, 2011, pp. 161-166 (EI: 245)
WANG Wei, LI Xiongfeng, ZHANG Xinhua, YU Wenpeng, “Design optimization and simulation of mechanical anti-load simulator”, Journal of Beijing University of Aeronautics and Astronautics, Vol.37, No.2, 2011, pp. 161-166
WANG Wei & ZHAN Chaoyue, “A Novel Thrown Robot Based on Flexible Structures”, in Proceedings of 2011 6th IEEE Conference on Industrial Electronics and Applications (ICIEA 2011), 21-23 June 2011, Beijing, China, pp. 1672-1677 (EI: 201**, IDS 号: BXG37)
WANG Wei & TANG Huilin, “Reconfigurable Multi-robot System Kinematic Modeling and Motion Planning”, in Proceedings of 2011 6th IEEE Conference on Industrial Electronics and Applications (ICIEA 2011), 21-23 June 2011, Beijing, China, pp. 1666-1671 (EI: 201**, IDS 号: BXG37)
WANG Wei & ZHAO Longchao, “A Method to Reduce the Sliding Force on Adhering Points of Caterpillar Climbing Robot”, in Proceedings of 2012 IEEE Conference on Information and Automation, 6-8 June 2012, Shenyang, China, pp. 715-720 (EI: 315)
WANG Wei & XIE Dawei, “A New Design and Analysis of Compliant Spine Mechanism for Caterpillar Climbing Robot”, in Proceedings of 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2102), December 11-14, 2012, Guangzhou, China, pp. 790-795 (EI: 20**4)
Kun Wang, Wei Wang, Dazhai Li, Guanghua Zong, Houxiang Zhang, Jianwei Zhang and Zhicheng Deng, “Analysis of two vibrating suction methods”, in Proceedings of 2008 IEEE International conference on Robotics and Biomimetics (ROBIO 2008), Bangkok, Thailand, February 21-26, 2009, pp. 1313-1318 (EI: 642, ISTP: IDS No. BME14)
李大寨，王巍，王莹莹，齐婧浩，仿生爬壁蠕虫运动步态控制算法，北京航空航天大学学报，Vol.35, No.2, Feb. 2009, pp: 256-260 (EI: 007)
Dazhai Li, Wei Wang, Yingying Wang, Yinghao Qi, “Locomotion Control Algorithm for Climbing Worm Robot”, Journal of Beijing University of Aeronautics and Astronautics, Vol.35, No.2, Feb. 2009, pp: 256-260 (in Chinese)
Houxiang Zhang, Wei Wang, Juan Gonzalez-Gomez and Jianwei Zhang, “Design and Realization of a Novel Modular Climbing Caterpillar Using Low-Frequency Vibrating Passive Suckers”, Advanced Robotics, Vol. 23, No.7-8, 2009, pp. 889-906, (EI: 120, SCI: IDS No. 468LC)
Houxiang Zhang, Wei Wang and Jianwei Zhang, “A novel passive adhesion principle and application for an inspired climbing caterpillar robot”, in Proceedings of IEEE 2009 International Conference on Mechatronics, ICM 2009, Malaga, Spain, April 14, 2009 - April 17, 2009, pp. (EI: 288)
Wenpeng Yu, Wei Wang, Zongliang Li, Huilin Tang， Guanghua Zong. Research and Design of Rigid Docking Mechanism Applied on Field Modular Self-reconfigurable Robot System. 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO 2009) .Guilin, Guangxi, China, December 19-23, 2009, pp:747-752 (EI:899, ISTP: IDS No. BSR15).
于文鹏，王巍，宗光华，李雄峰，李宗良. 抓持式对接机构的设计及分析. 机器人. 2010(2)，pp: 233-240 (EI:714).
于文鹏，王巍，李宗良，李雄峰，唐慧霖. 野外移动自重构多机器人系统的设计与实现. 高技术通讯 (EI源刊,已录用).
Kun Wang, Wei Wang, Houxiang Zhang. Analysis and Design of Attachment Module Based on Sine Vibrating Suction Method for Wall-climbing Robot [J]. Procedia Engineering 12 (2011) 9-14 (EI: 201**)
Wang, Kun; Wang, Wei; Zhang, HX; Development and Experiment of Wall-climbing Caterpillar Robot, Advanced Materials Research, Vol. 308-310, 2011, pp.2031-2036, (ISTP: BAW78)
Kun Wang, Wei Wang, Houxiang Zhang. Analysis of Gait and Mechanical Property of Wall-climbing Caterpillar Robot [J]. Journal of Computers 7 (2012) 706-715(EI: 769)
Kun Wang, Wei Wang, Houxiang Zhang, Jiancheng Fang, “Suction force of vibrating suction method based on pi theorem: Analysis and experiment”, Vacuum 86 (2012), pp. 1783-1788 (SCI: IDS No. 004HK)
Weina Cui, Wei Wang, Longchao Zhao & Houxiang Zhang, “Flexible Structural Design for Side-Sliding Force Reduction for a Caterpillar Climbing Robot”, International Journal of Advanced Robotic Systems, 2012, Vol. 9, pp. 198:2012 1-8 （SCIE: IDS No. 062FK）
Kun Wang, Wei Wang & Houxiang Zhang, Jiancheng Fang. Mechanical Property of Wall-climbing Caterpillar Robot: Analysis and Experiment. International Journal of Advanced Robotic Systems, 2013, Vol.10, pp. 34:2013 1-11 (SCIE: IDS No. 110PJ)
授权发明专利：
一种可自动吸合脱离的直流电气对接装置 ZL9.7
一种抗轴向载荷的无回差扭矩输出球铰驱动机构 ZL0.6
一种内置输出驱动轴的主动虎克铰机构 ZL7.4
一种基于形封闭的对接抓持一体化机构 ZL 8.9
一种变振幅正弦振动吸附机构 ZL 3.4
一种具有可调偏心轮的振动吸附机构 ZL2.X
一种旋臂式振动吸附机构 ZL1.5
一种模块化可重构蠕虫式爬壁机器人 ZL8.1
一种模块化可重构履带式爬壁机器人 ZL9.6
一种测爬壁蠕虫式机器人关节内力的测试系统 ZL0.5
多关节爬壁蠕虫式机器人 ZL 3.4
采用方波振动的吸附机构 ZL1.2
1. 一种可对接的履带式移动机器人 ZL 3.4

◆学术与社会服务

《Industrial Robot: An International Journal》Editor
《Journal of Advanced Robotics and system》Editor