齐臣坤 副教授
所在系所重大装备设计与控制工程研究所
办公电话
通讯地址机械A楼923室
电子邮件chenkqi@sjtu.edu.cn
个人主页


教育背景 2004―2009 香港城市大学 制造工程与工程管理系 博士
2001―2004 上海交通大学 电子信息与电气工程学院 自动化系 硕士
1997―2001 上海交通大学 动力与能源工程学院 学士

工作经历 2017―至今 上海交通大学机械与动力工程学院 　 副教授 博士生导师
2009―2016 上海交通大学机械与动力工程学院 　 助理研究员

出访及挂职经历 2018.06.25-07.04 英国伯恩茅斯大学 学术访问
2017.07.16-07.18 意大利热那亚大学 学术访问
2011.07.12-08.26 香港城市大学 学术访问

研究方向 步行机器人建模与控制
空间机器人半物理仿真系统建模与控制
微操作机器人系统建模与控制
移动机器人建图与导航
机械臂动力学模型辨识与控制
分布参数系统建模与控制
系统辨识与参数估计

科研项目 主持项目：
[1]. 国家自然科学基金面上项目，空间机械臂接触作业动力学过程半实物模拟的误差补偿与控制方法研究，2020.01-2023.12
[2]. 上海市自然科学基金，六轴并联微纳操作机器人多源不确定动态模型辨识与补偿技术，2019.7.1-2022.6.30
[3]. 国家自然科学基金面上项目，基于数据驱动的微操作机器人动态不确定性建模与补偿技术研究, 2015.1-2018.12
[4]. 装备预研航天科工联合基金, 空间机器人抓捕作业过程地面半物理模拟技术, 2017.01-2017.12
[5]. 国家自然科学基金青年基金，基于时空多模型的分布参数系统建模与空间状态重构, 2011.1-2013.12
[6]. 教育部博士点新教师基金，基于数据学习的纳米操作平台多源未建模动态综合补偿策略, 2011.1-2013.12
[7]. 上海市自然科学基金，远程探测与作业多足机器人容错性设计与故障步态关键技术研究, 2014.7-2017.6
[8]. 机械系统与振动国家重点实验室课题，空间碰撞半物理仿真与实验研究, 2015.1-2016.12
[9]. 机械系统与振动国家重点实验室课题，多足救援机器人控制关键技术研究, 2012.1-2013.12
参加项目：
[1]. 国家重点研发计划-政府间国际科技创新合作重点专项, 智能消防机器人研究创新计划, 2018.4-2021.3
[2]. 国家自然科学基金重点项目，着陆巡视一体化新型探测器复杂机构创新设计研究，2018-2022
[3]. 高档数控机床与基础制造装备科技重大专项: 运载火箭装配自动化与特种加工技术与装备, 2017.01-2019.12
[4]. 国家自然科学基金面上项目，CPS结构下分布式预测控制系统的设计与综合, 2017.01-2020.12
[5]. 国家重点基础研究发展计划（973计划）子课题，救灾机器人主从控制与自律协同, 2013.1-2017.8
[6]. 国家863计划主题项目，高性能四足仿生机器人机构驱动与控制关键技术研究, 2011.1-2012.9
[7]. 国家自然科学基金重点项目，新型大功率海上风力波浪一体化复合发电装备能量收集与传递原理, 2014.1-2018.12
[8]. 国家自然科学基金面上项目，空间分布系统空间混合神经模糊控制器设计与应用, 2013.01-2016.12
[9]. 国家自然科学基金面上项目，面向飞机制孔的爬行、定位一体化冗余驱动并联机器人关键技术研究, 2012.1-2015.12
[10]. 国家自然科学基金青年基金，行走机器人新型电机-液压复合驱动器性能评价与实验方法, 2014.1-2016.12
[11]. 国家自然科学基金青年基金，分布式系统预测控制的协调策略与系统综合, 2014.1-2016.12
[12]. 上海航天技术研究院项目，弱碰撞式xx机构综合试验台, 2013.1-2014.9

代表性论文专著 专著：
[1]. 高峰,曹睿,齐臣坤,任安业. (2016). 空间碰撞地面半实物模拟原理. 科学出版社.
[2]. Han-Xiong Li, & Chenkun Qi (2011). Spatio-temporal modeling of nonlinear distributed parameter systems - A time/space separation based approach. Springer.
期刊论文：
2019
[1]. Qian Wang, Chenkun Qi, Feng Gao, Xianchao Zhao, Anye Ren, Qiao Sun. (2019). Force based delay compensation for hardware-in-the-loop simulation divergence of 6-dof space contact. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 233(1): 151-165.
2018
[1].Chenkun Qi, Feng Gao, Xianchao Zhao, Qian Wang, Qiao Sun. (2018). Distortion compensation for a robotic hardware-in-the-loop contact simulator. IEEE Transactions on Control Systems Technology. 26(4): 1170-1179.
[2].Chenkun Qi, Anye Ren, Feng Gao, Xianchao Zhao, Qiao Sun. (2018). Hybrid smith predictor and phase lead based divergence compensation for hardware-in-the-loop contact simulation with measurement delay. Acta Astronautica, 147, 175-182.
[3].Qian Wang, Chenkun Qi, Feng Gao, Xianchao Zhao, Anye Ren, Yan Hu. (2018). Normal contact stiffness identification based force compensation for a hardware-in-the-loop docking simulator. Advanced Robotics, 32(5), 266-282.
[4].Yue Zhao, Xun Chai, Feng Gao, Chenkun Qi. (2018). Obstacle avoidance and motion planning scheme for a hexapod robot Octupus-III. Robotics and Autonomous Systems, 103, 199-212.
2017
[1]. Anye Ren, Chenkun Qi, Feng Gao, Xianchao Zhao, Qiao Sun. (2017). Contact stiffness identification for hardware-in-the-loop contact simulator with delay and structural compensation. Journal of Intelligent & Robotic Systems, 86(3), 325-333.
[2]. Xun Chai, Feng Gao, Chenkun Qi, Yang Pan, Yilin Xu, Yue Zhao. (2017). Obstacle avoidance for a hexapod robot in unknown environment. Science China Technological Sciences, 60, 818.
[3]. Chenkun Qi, Xianchao Zhao, Feng Gao, Anye Ren, Yan Hu. (2017). Low-order model based divergence compensation for hardware-in-the-loop space contact simulation. Journal of Intelligent & Robotic Systems. 86(1), 81-93.
[4]. Chenkun Qi, Feng Gao, Xianchao Zhao, Anye Ren, Qian Wang. (2017). A force compensation approach towards divergence of hardware-in-the-loop contact simulation system for damped elastic contact. IEEE Transactions on Industrial Electronics, 64(4), 2933-2943.
[5]. Chenkun Qi, Anye Ren, Feng Gao, Xianchao Zhao, Qian Wang, Qiao Sun. (2017). Compensation of velocity divergence caused by dynamic response for hardware-in-the-loop docking simulator. IEEE/ASME Transactions on Mechatronics, 22(1), 422-432.
2016
[1]. Feng Gao, Chenkun Qi, Anye Ren, Xianchao Zhao, Rui Cao, Qiao Sun, Qian Wang, Yan Hu, Jun He, Zhenlin Jin, Renqiang Liu, Yong Zhang, Weizhong Guo, Zhenyu Hu, Ping Tang, Bo Ni, Qianfeng Jing, Weijun Wang, Peng Gao. (2016). Hardware-in-the-loop simulation for the contact dynamic process of flying objects in space. Science China Technological Science, 59(8), 1167-1175.
[2]. Chenkun Qi, Xianchao Zhao, Feng Gao, Anye Ren, Yan Hu. (2016). Divergence compensation for hardware-in-the-loop simulation of stiffness-varying discrete contact in space. Acta Astronautica, 128, 295-303.
[3]. Chenkun Qi, Feng Gao, Xianchao Zhao, Anye Ren, Qian Wang, Qiao Sun, Yan Hu, Li Qiao. (2016). Smith predictor based delay compensation for a hardware-in-the-loop docking simulator. Mechatronics, 36, 63-76.
[4]. Chenkun Qi, Xianchao Zhao, Feng Gao, Anye Ren, Qiao Sun. (2016). Contact stiffness and damping identification for hardware-in-the-loop contact simulator with measurement delay compensation. Acta Astronautica. 123, 171-180.
[5]. Chenkun Qi, Feng Gao, Han-Xiong Li, Xianchao Zhao, Liming Deng. (2016). A neural network based distributed parameter model identification approach for micro-cantilever. Proceedings of the Institution of Mechanical Engineers Part C - Journal of Mechanical Engineering Science, 230(20), 3663-3676.
[6]. Qiao Sun, Feng Gao, Chenkun Qi, Xianbao Chen. (2016). A simplified control method to achieve stable and robust quadrupedal quasi-passive walking with compliant legs. Journal of Bionics Engineering, 13(4), 585-599.
[7]. Yang Pan, Feng Gao, Chenkun Qi, Xun Chai. (2016). Human-tracking strategies for a six-legged rescue robot based on distance and view. Chinese Journal of Mechanical Engineering, 29(2), 219-230.
[8]. Xinghua Tian, Feng Gao, Chenkun Qi, Xianbao Chen, & Dan Zhang. (2016). External disturbance identification of a quadruped robot with parallel-serial leg structure. International Journal of Mechanics and Materials in Design. 12(1), 109-120.
[9]. Mengling Wang, Chenkun Qi, HuaichengYan, & Hongbo Shi. (2016). Hybrid neural network predictor for distributed parameter system based on nonlinear dimension reduction. Neurocomputing, 171, 1591-1597.
2015
[1]. Chenkun Qi, Feng Gao, Han-Xiong Li, Shaoyuan Li, Xianchao Zhao, & Yi Dong. (2015). An incremental Hammerstein-like modeling approach for the decoupled creep, vibration and hysteresis dynamics of piezoelectric actuator. Nonlinear Dynamics. 82, 2097-2118.
[2]. Xun Chai, Feng Gao, Yang Pan, Chenkun Qi and Yilin Xu. (2015). A novel identification methodology for the coordinate relationship between a 3d vision system and a legged robot. Sensors, 15(4), 9519-9546.
[3]. Xianbao Chen, Feng Gao, Chenkun Qi, & Xinghua Tian (2015). Gait planning for a quadruped robot with one fault actuator. Chinese Journal of Mechanical Engineering, 28(1), 11-19.
[4]. Xianbao Chen, Feng Gao, Chenkun Qi, Xinghua Tian, & Lin Wei. (2015). Kinematic analysis and motion planning of a quadruped robot with partially faulty actuators. Mechanism and Machine Theory, 94, 64-79.
[5]. Xinghua Tian, Feng Gao, Chenkun Qi, & Xianbao Chen (2015). Reaction forces identification of a quadruped robot with parallel-serial leg structure. Proceedings of the Institution of Mechanical Engineers Part C - Journal of Mechanical Engineering Science, 229(15), 2774-2787.
2014
[1]. Chenkun Qi, Han-Xiong Li, Shaoyuan Li, Xianchao Zhao, & Feng Gao (2014). A fuzzy-based spatio-temporal multi-modeling for nonlinear distributed parameter processes. Applied Soft Computing, 25, 309-321.
[2]. Taoran Liu, Feng Gao, Xianchao Zhao, & Chenkun Qi (2014). Static balancing of spatial six-degree-of-freedom decoupling parallel mechanism. Journal of Mechanical Science and Technology, 28(1), 191-199.
[3]. Taoran Liu, Feng Gao, Chenkun Qi, & Xianchao Zhao (2014). Partial dynamic balancing of a 6-DOF haptic device. Proceedings of the Institution of Mechanical Engineers, Part C, Journal of Mechanical Engineering Science, 228(14), 2632-2641.
[4]. Xianbao Chen, Feng Gao, Chenkun Qi, Xinghua Tian, & Jiaqi Zhang. (2014). Spring parameters design for the new hydraulic actuated quadruped robot. Journal of Mechanisms and Robotics, 6(2), 021003.
2012
[1]. Chenkun Qi, Han-Xiong Li, Shaoyuan Li, Xianchao Zhao, & Feng Gao (2012). Probabilistic PCA-based spatiotemporal multimodeling for nonlinear distributed parameter processes. Industrial & Engineering Chemistry Research, 51, 6811-6822.
[2]. Chenkun Qi, Han-Xiong Li, Shaoyuan Li, Xianchao Zhao, & Feng Gao (2012). Kernel-based spatiotemporal multimodeling for nonlinear distributed parameter industrial processes. Industrial & Engineering Chemistry Research, 51(40), 13205-13218.
2011
[1]. Chenkun Qi, Han-Xiong Li, Xianchao Zhao, Shaoyuan Li, & Feng Gao (2011). Hammerstein modeling with structure identification for multi-input multi-output nonlinear industrial processes. Industrial & Engineering Chemistry Research, 50(19), 11153-11169.
[2]. Chenkun Qi, Han-Xiong Li, Xianxia Zhang, Xianchao Zhao, Shaoyuan Li, & Feng Gao (2011). Time/space-separation-based SVM modeling for nonlinear distributed parameter processes. Industrial & Engineering Chemistry Research, 50 (1), 332-341.
2010
[1]. Han-Xiong Li, & Chenkun Qi (2010). Modeling of distributed parameter systems for applications - A synthesized review from time-space separation. Journal of Process Control, 20(8), 891-901.
[2]. Xianxia Zhang, Han-Xiong Li, & Chenkun Qi (2010). Spatially constrained fuzzy clustering based sensor placement for spatio-temporal fuzzy control system. IEEE Transactions on Fuzzy Systems, 18(5), 946-957.
2009
[1]. Han-Xiong Li, & Chenkun Qi (2009). Incremental modeling of nonlinear distributed parameter processes via spatio-temporal kernel series expansion. Industrial & Engineering Chemistry Research, 48(6), 3052-3058.
[2]. Han-Xiong Li, Chenkun Qi, & Yongguan Yu. (2009). A spatio-temporal Volterra modeling approach for a class of nonlinear distributed parameter processes. Journal of Process Control, 19(7), 1126-1142.
[3]. Chenkun Qi, & Han-Xiong Li (2009). A time/space separation based Hammerstein modeling approach for nonlinear distributed parameter processes. Computers & Chemical Engineering, 33(7), 1247-1260.
[4]. Chenkun Qi, & Han-Xiong Li (2009). Nonlinear dimension reduction based neural modeling for spatio-temporal processes. Chemical Engineering Science, 64(19), 4164-4170.
[5]. Chenkun Qi, Haitao Zhang, & Han-Xiong Li (2009). A multi-channel spatio-temporal Hammerstein modeling approach for nonlinear distributed parameter processes. Journal of Process Control, 19(1), 85-99.
2008
[1]. Chenkun Qi, & Han-Xiong Li (2008). A Karhunen-Loève decomposition based Wiener modeling approach for nonlinear distributed parameter processes. Industrial & Engineering Chemistry Research, 47(12), 4184-4192.
2007
[1]. Haitao Zhang, Chenkun Qi, Tao Zhou, & Han-Xiong Li (2007). Greatly enhancing the modeling accuracy for distributed parameter systems by nonlinear time/space separation. Physica A: Statistical Mechanics and its Applications, 376, 215-222.

教学工作 步行机器人机构学， 研究生课程，学时：48，学分：3，春季学期
智能控制技术， 研究生课程，学时：48，学分：3，春季学期
系统建模方法与应用，本科生课程，学时：32，学分：2，春季学期

软件版权登记及专利 [1]. 高峰,金振林,田兴华,齐臣坤,王静. 各向同性混联腿构型四足步行机器人. 发明专利.授权日期：2013年8月28日
[2]. 高峰,金振林,田兴华,齐臣坤,赵现朝. 新型并联腿结构四足步行器. 发明专利.授权日期： 2013年5月22日
[3]. 高峰,田兴华,金振林,齐臣坤,赵现朝. 液压驱动空间混联腿结构四足机器人. 发明专利.授权日期：2013.04.17
[4]. 高峰,田兴华,金振林,齐臣坤,郭为忠. 十二自由度混联腿结构四足步行器. 发明专利.授权日期：2013.03.27
[5]. 高峰,田兴华,金振林,齐臣坤,郭为忠. 一种有膝关节并联腿结构四足仿生机器人. 发明专利.授权日期：2013.05.22
[6]. 高峰,金振林,曹睿,张勇,齐臣坤,赵现朝. 六自由度3-3正交型并联机器人. 发明专利. 授权日期：2016年5月25日

学术兼职 1. 学会会员：
Member of IEEE, 2009-now
Member of IEEE Robotics and Automation Society, 2013-now
2. 会议组织：
Local Organizing Committee. The 2nd IFToMM International Symposium on Robotics and Mechatronics (ISRM 2011), Shanghai, China, November 3-5, 2011.
Local Organizing Committee. The 2010 EMARO Meeting and Workshop "European Master on Advanced Robotics", Shanghai, China, July 7-9, 2010.
3. 期刊审稿人：
IEEE Transactions on Mechatronics
IEEE Transactions on Automatic Control
IEEE Transactions on Neural Networks
ASME Journal of Mechanisms and Robotics
Automatica
Mechatronics
Robotics and Autonomous Systems
Robotica
Journal of Process Control
Industrial & Engineering Chemistry Research
Asian Journal of Control
Nonlinear Dynamics
Robotics and Computer Integrated Manufacturing
自动化学报
机械工程学报

荣誉奖励 吴文俊人工智能科学技术奖：技术发明二等奖，2018
中国专利优秀奖，2018
教工年度考核优秀，2012-2018