基本信息

姓名：孙雷
性别：男

所属部门：机器人与信息自动化研究所
行政职务：
职称：教授
学历：博士
所学专业：控制理论与控制工程
办公电话：**-813
电子邮件：sunl@nankai.edu.cn
研究方向：仿生机器人,非线性系统控制,智能机器人系统, 移动机器人, 轨迹规划






个人简介
2018-至今 教授 机器人与信息自动化研究所 南开大学
2018-now Professor Institute of Robotics and Automatic Information System Nankai University

2008-2018 副教授 机器人与信息自动化研究所 南开大学
2008-2018 Associate Professor Institute of Robotics and Automatic Information System Nankai University
2005-2008 讲师 机器人与信息自动化研究所 南开大学
2005-2008 Lecturer Institute of Robotics and Automatic Information System Nankai University

2002-2005 博士 控制理论与控制工程 南开大学
2002-2005 Ph.D Control Theory and Control Engineering Nankai University

1999-2002 硕士 机械电子工程 天津大学
1999-2002 Master Mechatronic Engineering Tianjin University

1995-1999 学士 机械电子工程 天津大学
1995-1999 Bachelor Mechatronic Engineering Tianjin University



科研项目、成果、获奖、专利
科研项目：
Research Projects：
国家自然科学基金项目：
[1] ** 基于串联弹性驱动器的单腿跳跃机器人轨迹规划和跟踪控制方法研究, 在研、主持, 2016.1-2019.12
[2] ** 面向竞争型网络机器人核心问题与关键技术的研究, 已结题、主持, 2010.1-2012.12
[3] ** 基于机器视觉和惯性测量的轮式滑动转向移动机器人定位导航与遥感知, 已结题、第二完成人, 2009.1-2011.12
[4] ** 竞争型机器人遥操作机理的研究, 已结题、第二完成人, 2006.1~2008.12
National Natural Science Foundation of China：
[1] **, Trajectory Planning and Tracking Approach for One-Legged Hopping Robot with the Series Elastic Actuator(PI), 2016.1-2019.12
[2] **, Research on the core algorithms and key technology of competitive networked, PI, 2010.1-2012.12
[3] **, Research on navigation and tele-exploration of wheel skid steered mobile robot based on machine vision and IMU, co-PI, 2009.1-2011.12
[4] **, Research on the mechanism of competitive robot teleoperation, co-PI, 2006.1~2008.12

国家重点研发计划智能机器人专项:
[1] 2019YFB** 多模式机器人任务规划与协同控制技术研究, 在研，课题负责人，2019.12-2022.11

国家高技术研究发展计划(863 计划)：
[1] 2012AA041403 机器人模块化单元技术, 已结题、第二完成人, 2012.4-2014.10
[2] 2009AA04Z222 三维地形模型加工及真彩色喷绘机器人的研制, 已结题、第二完成人, 2009.4-2011.10
[3] 2008AA042601 仿人机器人移动作业协调关键技术和系统集成——仿真系统单元, 已结题、第二完成人, 2008.4-2010.10
[4] 2001AA422290 基于远程网开放的机器人实验平台, 已结题、第二完成人, 2002.4-2005.9

National High Technology Research and Development Program (863 Hi-tech Program)：
[1] 2012AA041403, Robot modular unit technology (Major Participant), 2012.4-2014.10
[2] 2009AA04Z222, Development of 3D terrain model processing and full-color Printing Robot, co-PI, 2009.4-2011.10
[3] 2008AA042601, Research on key technologies and mobile operating system integration of humanoid robot for dynamic operations coordination, co-PI, 2008.4-2010.10
[4] 2001AA422290, The open platform of Internet-based tobot teleoperation, co-PI, 2002.4-2005.9
天津市新一代人工智能科技重大专项: [1] 19ZXZNGX00100 面向智能制造领域的天津自主机器人研发与应用示范, 在研，2019.06-2022.05

天津市智能机器人重大科技专项:
[1] 基于云架构的家庭巡护机器人平台的开发, 已结题、主持, 2014.10-2016.9
Tianjin Intelligent Robot Major Technology Special Project:
[1] Development of home patrol robot platform based on cloud architecture (PI), 2014.10-2016.9

天津市自然科学基金项目：
[1] 09JCZDJC23700 真彩色三维喷绘机器人的研制[重点项目], 已结题、第二完成人, 2009.4-2012.3
[2] 08JCYBJC12700 基于无线传感网络的网络机器人遥探测技术的研究, 已结题、主持, 2008.4-2011.3
[3] 基于远程网开放的机器人遥操作作业模式的研究, 已结题、第二完成人, 2003.5-2005.8
Tianjin Natural Science Foundation：
[1] 09JCZDJC23700, Development of 3D full-color Printing Robot, co-PI, 2009.4-2012.3
[2] 08JCYBJC12700, Research on tele-exploration of networked robot based on wireless sensor network, PI, 2008.4-2011.3
[3] , Research on the task mode of networked robot, co-PI, 2003.5-2005.8

发明专利：
[1] 基于弹性元件的机器人雕刻方法. ZL2.6, 2016.
[2] AGV货叉辅助矫正装置. ZL4.X, 2016.
[3] 基于压簧的线性串联弹性驱动器. ZL6.2, 2015.
[4] 机器人可变形操作臂参数标定方法. ZL5.7, 2014.
[5] 基于iPhone智能手机的机器人人机交互系统. ZL1.8, 2010.
[6] 一种三维喷绘供墨系统. ZL2.0, 2009.
[7] 三维动态展示系统. ZL1.3, 2009.
[8] 竞争型网络机器人对弈系统. ZL8.8, 2008.
[9] 可任意固定机器人位置的真空吸附装置. ZL**.8 (F16B47/00), 2005.
[10] 基于互联网的网上遥操作机器人对弈的控制系统. ZL**.0 (B25H13/00), 2005.
Patents：
[1] Robotic engraving method based on elastic element. ZL2.6, 2016.
[2] AGV fork auxiliary correction device. ZL4.X, 2016.
[3] Linear series elastic actuator based on compression spring. ZL6.2, 2015.
[4] Deformable operating robot arm parameter calibration method. ZL5.7, 2014.
[5] A Robot Interactive System Based on the iPhone. ZL1.8, 2010.
[6] An Ink Supply System for 3D Printing. ZL2.0, 2009.
[7] 3D Dynamic Display System. ZL1.3, 2009.
[8] Competitive Networked Robot Platform. ZL8.8, 2008.
[9] Vacuum Robot Fixed Equipment with the Position Movable. ZL**.8 (F16B47/00), 2005.
[10] Control Systems of Internet-Based Competitive Robot Teleoperation. ZL**.0 (B25H13/00), 2005.



撰写论文、专著、教材等
1. 期刊论文(Journal Publications)：
[1] Lei Sun*, Mingyang Li, Meng Wang, Wei Yin, Ning Sun, Jingtai Liu. Continuous finite-time output torque control approach for series elastic actuator [J]. Mechanical Systems and Signal Processing, 2019.05.
[2] Lei Sun*, Wen Zhao, Meng Wang, Wei Yin, Ning Sun, Jingtai Liu. Proxy based position control for flexible joint robot with link side energy feedback[J]. Robotics and Autonomous Systems, 2019.09.
[3] Gaofeng Li , Dezhen Song, Shan Xu, Lei Sun. Jingtai Liu. A Hybrid Model and Model-free Position Control for a Reconfigurable Manipulator [J]. IEEE/ASME Transactions on Mechatronics, 2019, 24(2): 785 - 795.
[4] Lei Sun, Wei Yin, Meng Wang, Jingtai Liu. Position Control for Flexible Joint Robot Based on Online Gravity Compensation with Vibration Suppression [J]. IEEE Transactions on Industrial Electronics, 2018, 65(6): 4840-4848.
[5] Wei Yin, Lei Sun*, Meng Wang, Jingtai Liu, Nonlinear State Feedback Position Control for Flexible Joint Robot with Energy Shaping [J]. Robotics & Autonomous Systems, 2018,99:121-134.
[6] 尹伟，孙雷*，王萌，刘景泰，针对串联弹性驱动器抖动抑制的轨迹规划和跟踪控制[J] 自动化学报, 2018, 44(8): 1436-1445.
[7] 孙雷*，孙伟超，王萌，刘景泰，基于RISE反馈的串联弹性驱动器最优控制方法[J]，自动化学报, 2018, 44(12): 2170-2178
[8] 孙雷*，张丽爽，周璐，张雪波，一种基于Bezier曲线的移动机器人轨迹规划新方法[J] 系统仿真学报，2018, 30(3) : 962-968.
[9] 尹伟，孙雷*，王萌，刘景泰，用于柔性关节机器人位置控制的幅值饱和非线性状态反馈控制器[J].机器人，2017, 39 (4) :458-465.
[10] 王萌，孙雷*，尹伟，董帅，刘景泰，面向交互应用的串联弹性驱动器力矩控制方法[J]. 自动化学报，2017, 43 (8) :1319-1328.
[11] Meng Wang, Lei Sun*, Wei Yin, Shuai Dong, Jingtai Liu. Continuous Robust Control for Series Elastic Actuator With Unknown Payload Parameters and External Disturbances [J]. IEEE/CAA Journal of Automatica Sinica. 2017, 4 (4) :620-627.
[12] 王萌，孙雷*，尹伟，董帅，刘景泰，一种面向交互应用的串联弹性驱动器有限时间输出反馈控制方法[J]. 机器人，2016, 38(5): 513-521.
[13] Qian Haili, Sun Lei, Qiu Ruitao, Liu Jingtai. Dynamics Modeling and Hopping Gait Planning of a One-legged Robot[J]. Transactions of Nanjing University of Astronautics, 2015.
[14] Yingshi Wang, Lei Sun*, Wenbin Yan, Jingtai Liu. An analytic and optimal inverse kinematic solution for a 7-DOF space manipulator[J]. 机器人,2014.09, 36(5):592-599.
[15] Wang Yingshi, Sun Lei*, Liu Jingtai. Online Minimum-acceleration Trajectory Planning with the Kinematic Constraints, 自动化学报[J], 2014.07, 40 (7) :1328-1338
[16] Xiang Lu, Jingtai Liu, Kaiyan Yu, Yan Li, Lei Sun. Pose Measurements Using Quaternion and Kalman Filter. High Technology Letters, 2014.06, 20(2): 131-139.
[17] Li Zongwei, Sun Lei*. Human-machine interaction network robot system based on smart phone. Computer Engineering and Applications, Vol. 15, 2011: 64-68.
[18] Liu Jingtai, Li Haifeng, Sun Lei, Huang Jijin, Zhang Xingxing, and Li Yan, Tele-LightSaber: A kind of competitive networked robots with high degree of opposition. Robot, Vol.6, 2009: p. 505-512.
[19] Liu Jingtai, Huang Xingbo, and Sun Lei. Research on Competitive Networked Robots. Automation & Instrumentation, Vol. 23, 2008: p.1-4.
[20] Wu Jiangchuan, Sun Lei*, Wang Hongpeng, Zhou Lu, and Liu Jingtai. Environment Test System Based on Tmote- Sky. Automation & Instrumentation, Vol. 7, 2008: p.8-12
[21] Liu Jingtai, Wu Shuihua, Sun Lei, Chen Tao. Vision-Based Precise Tele-Assembling System. Robot, Vol. 27, No. 2, 2005: p. 178-182.
[22] Liu Jingtai, Sun Lei, Chen Tao, Huang Xingbo, and Zhao Chunyin. Research on the Competitive Teleoperation. Robot, Vol. 27, No. 1, 2005: p. 68-72.
2. 会议论文(Conference Publications)：
[1] Wei Yin, Lei Sun*, Meng Wang, Jingtai Liu. Robust Position Control of Series Elastic Actuator with Sliding Mode Like and Disturbance Observer[C]. 2018 Annual American Control Conference (ACC) 2018.06: p. 4221-4226.
[2] Meng Wang, Lei Sun*, Wei Yin, Shuai Dong, and Jingtai Liu. Nonlinear Disturbance Observer Based Torque Control for Series Elastic Actuator[C]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.10: p. 286-291.
[3] Meng Wang, Lei Sun*, Wei Yin, Shuai Dong, Jingtai Liu. Continuous Finite-Time Control Approach for Series Elastic Actuator[C]. IEEE Internation Conference on Decision and Control(CDC), 2016.12: p. 843-848.
[4] Wanbiao Lin, Lei Sun*, Jianchao Song, Xinwei Chen, Jingtai Liu. Map Optimization With Distance-based Covariance in Industrial Field[C] The 8th Annual IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2018) 2018.07: p. 1552-1556.
[5] XinRu Gong, XinWei Chen, Wei Yin, WeiChao Sun, Lei Sun. Accurate Estimation of the Spring Stiffness in Series Elastic Actuators[C] The 7th Annual IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2017) 2017.07: p. 382-387.
[6] Wei Yin, Lei Sun*, Meng Wang and Jingtai Liu, Xinwei Chen. Design and Parameters Identification of Flexible Joint Robot[C]. IEEE International Conference on Mechatronics & Automation(ICMA) 2017.08: p. 1297-1302.
[7] Weichao Sun, Lei Sun*, Meng Wang, songqi Lei, and Jingtai Liu. An Integral Sliding-Mode Control Approach for Series Elastic Actuator Torque Control[C]. International Conference on Robotics and Biomimetics (ROBIO), 2016.12: p. 1209-1214.
[8] Lishuang Zhang, Lei Sun*, Lu Zhou, Xuebo Zhang, and Jingtai Liu. Path Planning for the Mobile Robots in the Environment with Unknown Obstacles[C]. International Conference on Robotics and Biomimetics (ROBIO), 2016.12: p. 1153-1158.
[9] Yue Sun, Lei Sun, and Jingtai Liu. Human Comfort Following Behavior for Service Robots[C]. International Conference on Robotics and Biomimetics (ROBIO), 2016.12: p. 649-654.
[10] Wei Yin, Lei Sun*, Meng Wang, and Jingtai Liu. Position Control of Series Elastic Actuator Based on Feedback Linearization and RISE Method[C]. International Conference on Robotics and Biomimetics (ROBIO), 2016.12: p. 1203-1208.
[11] Gaofeng Li, Lei Sun, Xiang Lu, Jie Hao, and Jingtai Liu. A Practical, Fast, and Low-cost Kinematic Calibration Scheme for a Deformable Manipulator By using Leap Motion[C]. International Conference on Robotics and Biomimetics (ROBIO), 2016.12: p. 719-724.
[12] Gaofeng Li, Lei Sun, Shan Xu, Dezhen Song, and Jingtai Liu. A Hybrid Model and Kinematic-free Control Framework for a Low-cost Deformable Manipulator Using in Home Service[C]. The 12th IEEE Conference on Automation Science and Engineering, 2016.08: p. 1002-1007.
[13] Gaofeng Li, Shan Xu, Lei Sun, and Jingtai Liu. Kinematic-free Position Control for a Deformable Manipulator[C]. The 35th Chinese Control Conference (CCC), 2016.07: p. 10302-10307.
[14] Wei Yin, Lei Sun*, Meng Wang, Dong Shuai, and Jingtai Liu. Residual Vibration Suppression for Series Elastic Actuator Based on Phase Plane Analysis and Trajectory Tracking[C]. The 35th Chinese Control Conference (CCC), 2016.07: p. 4453-4458.
[15] Shuai Dong, Lu Zhou, Meng Wang, Wei Yin, Jingtai Liu, and Lei Sun. Variable Stiffness Estimation of a Series Elastic Actuator[C]. The 35th Chinese Control Conference (CCC), 2016.07: p. 2114-2119.
[16] Tongtong Yao, Lu Zhou, Jingtai Liu, and Lei Sun. The Improvement Method of Three-dimensional Robot Engraving[C]. The 35th Chinese Control Conference (CCC), 2016.07: p. 6357-6362.
[17] Yue Sun, Lei Sun, and Jingtai Liu. Real-Time and Fast RGB-D based People Detection and Tracking for Service Robots[C]. The 12th World Congress on Intelligent Control and Automation (WCICA), 2016.06: p. 1514-1519.
[18] Meng Wang, Lei Sun*, Wei Yin, Shuai Dong, and Jingtai Liu. A Novel Sliding Mode Control for Series Elastic Actuator Torque Tracking with an Extended Disturbance Observer[C]. International Conference on Robotics and Biomimetics (ROBIO), 2015.12: p. 2407-2412.
[19] Lishuang Zhang, Lei Sun*, Sen Zhang, and Jingtai Liu. Trajectory planning for an indoor mobile robot using quintic Bezier curves[C]. International Conference on Robotics and Biomimetics (ROBIO), 2015.12: p. 757-762.
[20] Yue Sun, Jingtai Liu, Lei Sun. RGB-D Sensors Calibration for Service Robots SLAM[C]. The 8th International Conference on Image and Graphics (ICIG 2015), PartⅢ, LNCS 9219, , 2015.08: p. 197-211.
[21] Sen Zhang, Lei Sun, Zhongliang Chen, Lishuang Zhang, Jingtai Liu. A ROS-based Smooth Path Planning Scheme for a Home Service Robot[C]. The 34th Chinese Control Conference (CCC), 2015.07: p. 5119-5124.
[22] Sen Zhang, Lei Sun, Zhongliang Chen, Xiang Lu, Jingtai Liu. Smooth Path Planning for a Home Service Robot Using -Splines[C]. International Conference on Robotics and Biomimetics (ROBIO), Bali, Indonesia, 2014.12: p. 1910-1915.
[23] Haili Qian, Lei Sun, Ruitao Qiu, Jingtai Liu. Varying Velocity Hopping Gait Planning of a One-legged Robot[C]. International Conference on Robotics and Biomimetics (ROBIO), Bali, Indonesia, 2014.12: p. 2068-2073.
[24] Lu X, Liu J, Hao J, Zhang S, Sun L. Self-calibration of Deformable Arm with Monocular Camera[C]. International Conference on Robotics and Biomimetics (ROBIO), Bali, Indonesia, 2014.12: p. 861-866.
[25] Sen Zhang, Lei Sun, Liang Dong, Baopeng Yuan, Zhongliang Chen, Jingtai Liu. Initial Location Calibration of Home Service Robot Based on 2-Dimensional Codes Landmarks[C]. The 33rd Chinese Control Conference (CCC), Nanjing, 2014.07: p. 8315-8320.
[26] Wang Yingshi, Sun Lei, Liu Jingtai, Yang Qi, Zhou Lu, and He Shan. A novel trajectory prediction approach for table-tennis robot based on nonlinear output feedback observer. In Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO 2010), Tianjin, China, 2010: p. 1136-1141.
[27] Chen Xinwei, Liu Jingtai, Sun Lei, Wang Hongpeng, Lin Sen, and Shi Tao. Ink drop and color distortion modeling in three dimensional printing. In Proceedings of the World Congress on Intelligent Control and Automation (WCICA 2010), Jinan, China, 2010: p. 335-340.
[28] Li Bin, Liu Jingtai, Sun Lei, Wang Hongpeng, Li Baojiong. Wheeled skid-steer mobile robot platform for complicated environment. In Proceedings of the Chinese Control Conference (CCC 2009), Beijing, China, 2009: p. 837-843.
[29] Sun Lei*, Liu Jingtai, Wang Yingshi, Zhou Lu, Yang Qi, and He Shan. Ball?s flight trajectory prediction for table-tennis game by humanoid robot. In Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO 2009), Guilin, China, 2009: p. 2379-2384.
[30] Niu Xuejuan, Liu Jingtai, and Sun Lei. Multi-resolution analysis of grid point clouds based on wavelet transform. In Proceedings of the Chinese Control Conference (CCC 2008), Kunming, Yunnan, China, 2008: p.341-345.
[31] Wang Hongpeng, Liu Jingtai, Sun Lei, and Wu Jiangchuan. Indoor intrusion detection using an intelligent sensor network. In Proceedings of the World Congress on Intelligent Control and Automation (WCICA 2008), Chongqing, China, 2008: p. 2396-2401.
[32] Sun Lei*, Chen Xinwei, Liu Jingtai, Liu Zheng, and Niu Xuejuan. 3D terrain model approach by an industrial robot. In Proceedings of the World Congress on Intelligent Control and Automation (WCICA 2008), Chongqing, China, 2008: p. 2345-2349.
[33] Niu Xuejuan, Liu Jingtai, Sun Lei, Liu Zheng, and Chen Xinwei. Robot 3D sculpturing based on extracted NURBS. In Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO 2007), Haikou, China, 2007: p. 1936 – 1941.
[34] Huang Xingbo, Liu Jingtai, Sun Lei, Chen Tao, and Sun Weiwei. Tele-Lightsaber - a kind of competitive teleoperation. In Proceedings of the World Congress on Intelligent Control and Automation (WCICA 2006), Dalin, China, 2006: p. 9237-9241.
[35] Sun Lei*, Sun Weiwei, Liu Jingtai, Huang Xingbo, Du Jiang. A human-assisted based visual servo approach for tele-assembly. In Proceedings of the World Congress on Intelligent Control and Automation (WCICA 2006), Dalin, China, 2006: p. 9312-9316.
[36] Huang Xingbo, Liu Jingtai, Sun Lei, Sun Weiwei, and Chen Tao. A criterion for evaluating competitive teleoperation system. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006), Beijing, China, 2006: p.5214-5219.
[37] Liu Jingtai, Sun Lei, Chen Tao, Huang Xingbo, and Zhao Chunying. Competitive Multi-robot Teleoperation. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA2005), Barcelona, Spain, 2005: p. 75-80.
[38] Liu Jingtai, Chen Tao, Sun Lei, Wu Shuihua, Huang Xingbo, and Zhao Chunyin. Telegame, A New Type of Teleoperation. In Proceedings of the World Congress on Intelligent Control and Automation (WCICA 2004), Hangzhou, China, 2004: p. 4741-4744.
[39] Sun Lei*, Liu Jingtai, Lu Guizhang, Wu Shuihua, Huang Xingbo, and Zhao Chunying. Internet-Based Telegame. In Proceedings of the World Congress on Intelligent Control and Automation (WCICA 2004), Hangzhou, China, 2004: p. 4933-4936.
[40] Sun Lei*, Liu Jingtai, Sun Weiwei, Wu Shuihua, and Huang Xingbo. Geometry-Based Robot Calibration Method. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2004), New Orleans, USA, 2004: p. 1907~1912.



讲授课程
MB** 无线传感器网络 研究生课程
MB**, Wireless Sensor Network, graduate course
COMP0155 智能工程 本科生课程
COMP0155, Intelligent Engineering, undergraduate course
COMP0136 机器人学导论 本科生课程
COMP0136, Introduction to Robotics, undergraduate course



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