高安柱
研究方向：连续体机器人，柔性机器人，医疗机器人，微小型机器人，机器人传感
通讯地址：闵行校区转化医学大楼二楼
电子邮件：anzhu_gao@sjtu.edu.cn

教育经历
2013 - 2017 中国科学院沈阳自动化研究所/中国科学院大学，机器人学国家重点实验室，获博士学位
2014 - 2015 The Johns Hopkins University, LCSR, Visiting Student
2009 - 2011 哈尔滨工业大学，机械电子工程，机器人技术与系统国家重点实验室，获硕士学位
2005 - 2009 哈尔滨工业大学，机电工程学院，机械设计制造及其自动化，获学士学位
工作经历
2019 至今 上海交通大学，自动化系/医疗机器人研究院，长聘教轨助理教授
2017 - 2019 Imperial College London, The Hamlyn Centre for Robotic Surgery, Research Associate
2011 - 2013 中国航发商发，设计研发中心，工程师
科研成果
A. Gao, N. Liu, M. Shen, M. Abdelaziz, B. Temelkuran, G. Yang*, “Laser-Profiled Continuum Robot with Integrated Tension-Sensing for Simultaneous Shape and Tip Force Estimation”, Soft Robotics (SoRo), 2020.
L. Ros-Freixedes, A. Gao*, N. Liu, M. Shen, G. Yang, “Design Optimization of a Contact-Aided Continuum Robot for Endobronchial Interventions Based on Anatomical Constraints”, IJCARS & IPCAI 2019, vol. 14, no. 7, pp. 1137-1146, 2019.
A. Gao, Y. Zou, L. Cao, Z. Wang, and H. Liu*, “Fiber Bragg Grating Based Tri-Axial Force Sensor with Parallel Flexure Hinges”, IEEE Transactions on Industrial Electronics (TIE), vol. 65, no. 10, pp. 8215-8223, 2018.
A. Gao, R. Murphy, H. Liu*, I. Iordachita, and M. Armand*, “Mechanical Model of Dexterous Continuum Manipulators with Compliant Joints and Tendon/External Force Interactions”, IEEE/ASME Transactions on Mechatronics (TMECH), vol. 22, no. 1, pp. 465-475, 2017.
A. Gao, Y. Zou, Z. Wang, and H. Liu*, “A General Friction Model of Discrete Interactions for Tendon Actuated Dexterous Manipulators”, Journal of Mechanisms and Robotics-Transactions of the ASME (JMR), vol. 9, no. 4, 041019, 2017.
A. Gao, H. Liu*, Y. Zou, Z. Wang, and M. Liang, “A Contact-Aided Asymmetric Steerable Catheter for Atrial Fibrillation Ablation”, IEEE Robotics and Automation Letters (RA-L) with IEEE ICRA presentation (ICRA’2017), vol. 2, no. 3, pp. 1525-1531, 2017.
A. Gao*, J. Carey, R. Murphy, I. Iordachita, R. Taylor, and M. Armand, “Progress toward Robotic Surgery of the Lateral Skull Base: Integration of a Dexterous Continuum Manipulator and Flexible Ring Curette”, in Proc. IEEE Int. Conf. on Robotics and Automation (ICRA’16), 2016, pp. 4429-4435.
A. Gao*, B. Gonenc, J. Guo, H. Liu, and I. Iordachita, “3-DOF Force-Sensing Micro-Forceps for Robot-Assisted Membrane Peeling: Intrinsic Actuation Force Modeling”, in Proc. IEEE RAS EMBS Int. Conf. Biomed. Robot. Biomechatron (BioRob’16), 2016, pp. 489-494.
A. Gao, R. Murphy, H. Liu, I. Iordachita, and M. Armand*, “Evaluating the Deflection of Dexterous Continuum Manipulators with Unevenly Distributed Compliant Joints”, in Proc. Int. Conf. of the IEEE EMBS (EMBC'16), 2016.
A. Gao, H. Liu*, Y. Zhou, Z. Yang, Z. Wang, and H. Li, “A Cross-helical Tendons Actuated Dexterous Continuum Manipulator,” in Proc. IEEE Int. Conf. on Intelligent Robots and Systems (IROS’15), pp. 2012-2017, 2015.