教育经历 2007.09- 2011.06 山东大学 控制科学与工程学院 工学学士 2011.09- 2016.06 山东大学 控制科学与工程学院 工学博士 工作经历 2016.12–2019.03 日本 立命馆大学 Senior Researcher 2019.04–2021.08 山东大学 控制科学与工程学院 特别资助类博士后 2021.08.-至今 山东大学 控制科学与工程学院 副研究员 学术兼职 lRegistration Co-Chair, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) lTechnical Committee Chair, The 12th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2022) lSession Chair, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020) lAssociate Editor, 2017-2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017-2020) lRegister Chair, 2019 IEEE International Conference on Advanced Robotics and Mechatronics (ICARM 2019) lAssociate Editor, 2019 IEEE International Conference on Advanced Robotics and Mechatronics (ICARM 2019) 主持科研项目 ●国家自然科学基金青年科学基金项目：面向野外环境的四足机器人足地界面感知与高能效运动控制研究，编号62003190。起止年月2021.1. - 2023.12.，经费24万元，项目负责人，在研。 ●山东省自然科学基金青年基金项目：四足机器人高速运动中的躯干位姿控制，编号ZR201911040226。起止年月2021.1. - 2023.12.，经费15万元，项目负责人，在研。 ●中国博士后科学基金第13批特别资助（站中）项目：腿足式机器人非抓取式移动作业中的交互感知与运动控制研究，编号2020T130369。起止年月2020.7. - 2022.3.，经费18万元，项目负责人，已结题。 ●第66批中国博士后科学基金面上资助项目：腿足式机器人非抓取式移动作业建模与控制，编号2019M662359。起止年月2019.12. - 2021.3.，经费8万元，项目负责人，已结题。 ●装备预先研究项目课题：爬行*****技术研究，编号*****。起止年月2019.08. - 2020.12.，课题经费75.6万元，课题负责人，已结题。 代表性论文 [1]Guoteng Zhang, Shugen Ma, Yayi Shen, Yibin Li. A Motion Planning Approach for Nonprehensile Manipulation and Locomotion Tasks of a Legged Robot. IEEE Transactions on Robotics, 2020, 36(3), 855-874. [2]Guoteng Zhang, Zhenyu Jiang, Yueyang Li, Hui Chai, Yibin Li. Active Compliance Control of the Hydraulic Actuated Leg Prototype. Assembly Automation, 2017, 37(3), 356-368. [3]Guoteng Zhang, Hui Chai, Xuewen Rong, Yibin Li, Bin Li. Torso Motion Control and Toe Trajectory Generation of a Trotting Quadruped Robot based on Virtual Model Control. Advanced Robotics, 2016, 30(4): 284-297. [4]Guoteng Zhang, Jinchang Liu, Xuewen Rong, Yibin Li, Hui Chai, Bin Li, Hui Zhang, Shuaishuai Zhang. Design of Trotting Controller for the Position-controlled Quadruped Robot. High Technology Letters, 2016, 22(3): 321-333. [5]张国腾，荣学文，李贻斌，柴汇，李彬。基于虚拟模型的四足机器人Trot步态控制方法, 机器人, 2016, 38(1): 64-74. [6]Guoteng Zhang, Yibin Li, Shugen Ma. Trotting and Pacing Locomotion of a Position-Controlled Quadruped Robot. In: Proceedings of the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), pp. 7433-7440, Prague, Czech Republic, 2021. [7]Guoteng Zhang, Shugen Ma, Yibin Li. Contact Force Estimation and Regulation of a Position-controlled Floating Base System without Joint Torque Information. In: Proceedings of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), pp. 3967-3974, Las Vegas, USA, 2020. [8]Guoteng Zhang, Shugen Ma, Felix Liang, Yibin Li. Quadruped Locomotion Control Based on Two Bipeds Jointly Carrying Model. In: Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), pp. 1732-1738, Madrid, Spain, 2018. [9]Guoteng Zhang, Shugen Ma, Yibin Li. Nonprehensile Pushing Manipulation Strategies for a Multi-limb Robot. In: Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), pp. 6634-6639, Madrid, Spain, 2018. [10]Guoteng Zhang, Shugen Ma, Yibin Li. Dynamic Modelling and Motion Planning for the Nonprehensile Manipulation and Locomotion Tasks of the Quadruped Robot. In: Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), pp. 8013-8018, Madrid, Spain, 2018. 授权发明专利 [1]汽油机驱动腿足式机器人液压系统用控制系统及控制方法。专利号：ZL201310264575.X [2]一种四足机器人遥控系统及其遥控方法。专利号：ZL 201310269673.2 [3]一种分布式液压四足机器人控制系统及控制方法。专利号：ZL 201310264334.5 [4]具有缓冲和过载保护功能的高度集成液压伺服油缸。专利号：ZL 201410537911.8 [5]基于关节速度规划的四足机器人对角步态运动控制方法。专利号：ZL202011299900.2 [6]一种穿戴式跖趾关节步行助力装置。专利号：ZL 202010574317.1 [7]一种可缩放机器人躯干及仿生四足机器人。专利号：ZL 202010547267.8 [8]一种带弹簧储能的连杆式机械腿及机器人。专利号：ZL 202010211375.8 [9]一种电机驱动两自由度机器人关节总成。专利号：ZL 202010186138.0 [10]一种可变构型的四足机器人运动控制方法及系统。专利号：ZL 202011302850.9 |
