臧希喆

臧希喆，男，漢族，1975年生，哈爾濱工業大學機電學院機電學院機器人研究所/機器人技術與系統國家重點實驗室教授，博士生導師。

基本介紹

  • 中文名：臧希喆
  • 出生日期：1975年
  • 畢業院校：哈爾濱工業大學
  • 學位/學歷：博士
  • 職業：教師
  • 專業方向：仿生機器人、特種機器人、遙操作技術
  • 任職院校：哈爾濱工業大學機電學院
個人經歷,研究方向,科研項目,學術成果,國際交流,

個人經歷

教育經歷
1999年——2005年 哈爾濱工業大學 博士學位
1997年——1999年 哈爾濱工業大學 碩士學位
1993年——1997年 天津大學 學士學位
工作經歷
2013年—— 哈工大機電學院機器人研究所 博士生導師
2005年——2009年 哈工大機電學院機器人研究所 講師

研究方向

主要研究方向包括仿生機器人、特種機器人、遙操作技術等。

科研項目

1. 面向複雜環境的機器人共性關鍵技術研究，國家重點研發計畫，2017.07-2020.06，負責，縱向項目，進行中
2. 基於變阻抗柔性關節的雙足機器人動態步行研究，國家自然科學基金面上項目，2016.08-2020.12，負責，縱向項目，進行中
3. 多功能巡檢與救援機器人系統關鍵技術研究，科技部支撐計畫，2012.01-2014.12，負責，縱向項目，完成
4. 多功能大尺度重載維護機械臂遙作業系統關鍵技術，科技部支撐計畫，2012.01-2014.12，負責，縱向項目，完成
5. 雙足準被動動力機器人抗擾性能最佳化理論及控制方法研究，國家自然科學基金青年基金，2010.01.01-2012.12.01,負責，縱向項目，完成
6. 煤礦井下搜尋機器人研製-多節履帶式井下搜尋機器人本體研製，863計畫重點項，2007.09.01-2010.08.01,負責，縱向項目，完成
7. 對接整機特性測試-測量系統，航天項目，2002.09.01-2005.12.01，負責，縱向項目，完成

學術成果

期刊論文
  1. Xizhe Zang, Zhenkun Lin, Xinran Sun, and Yixiang Liu, Biped robot design with variable ankle stiffness,Journal of Mechanics in Medicine and Biology, vol. 17, no. 7, Nov. 2017.
  2. He Zhang, Rui Wu, Changle Li,Xizhe Zang, Yanhe Zhu, Hongzhe Jin, Xuehe Zhang, Jie Zhao, Adaptive Motion Planning for Hitcr-II Hexapod Robot,Journal of Mechanics in Medicine and Biology, vol. 17, no. 7, Nov. 2017.
  3. He Zhang, Rui Wu, Changle Li,Xizhe Zang, Xuehe Zhang, Hongzhe Jin, and Jie Zhao, A Force-Sensing System on Legs for Biomimetic Hexapod Robots Interacting with Unstructured Terrain,SENSORS, vol. 17, no. 7, Paper No. 1514, Jul. 2017.
  4. Xizhe Zang, Yixiang Liu, Wenyuan Li, Zhenkun Lin, and Jie Zhao, Design and Experimental Development of a Pneumatic Stiffness Adjustable Foot System for Biped Robots Adaptable to Bumps on the Ground,Applied Sciences-Basel, vol. 7, no. 10, 1005, Ooc. 2017.
  5. Xizhe Zang, Yixiang Liu, Shuai Heng, Zhenkun Lin, and Jie Zhao, Position control of a single pneumatic artificial muscle with hysteresis compensation based on modified Prandtl-Ishlinskii model,Bio-Medical Materials and Engineering, vol. 28, no. 2, pp. 131-140, 2017.
  6. Yixiang Liu,Xizhe Zang, Shuai Heng, Zhenkun Lin, and Jie Zhao, Human-like walking with heel-off and toe-support for biped robot,Applied Sciences-Basel, vol. 7, no. 5, 499, May 2017.
  7. Yixiang Liu,Xizhe Zang, Zhenkun Lin, Xinyu Liu, and Jie Zhao, Modeling Length/Pressure Hysteresis of a Pneumatic Artificial Muscle using Modified Prandtl-Ishlinskii Model,Strojni？ki vestnik- Journal of Mechanical Engineering, vol. 63, no. 1, pp. 56-64, 2017.
  8. Yixiang Liu,Xizhe Zang, Zhenkun Lin, Wenyuan Li, and Jie Zhao, Position control of a bio-inspired semi-active joint with direct inverse hysteresis modeling and compensation,Advances in Mechanical Engineering, vol. 8, no. 11, pp. 1-8, Nov. 2016.
  9. Chao Zhang,Xizhe Zang, Zhengfei Leng, Hongying Yu, Jie Zhao, and Yanhe Zhu, Human-machine force interaction design and control for the HIT load-carrying exoskeleton,Advances in Mechanical Engineering, vol. 8, no. 4, Apr. 2016.
  10. Xizhe Zang, Sajid Iqbal, Yanhe Zhu, Xinyu Liu, and Jie Zhao, Applications of Chaotic Dynamics in Robotics,International Journal of Advanced Robotic Systems, vol. 13, no. 2, Mar. 2016.
  11. Xizhe Zang, Xinyu Liu, Yixiang Liu, Sajid Iqbal, and Jie Zhao, Influence of the swing ankle angle on walking stability for a passive dynamic walking robot with flat feet,Advances in Mechanical Engineering, vol. 8, no. 3, pp. 1-13, Mar. 2016.
  12. Xizhe Zang, Yixiang Liu, Zhenkun Lin, Can Zhang, and Jie Zhao, Two multi-linked rescue robots: design, construction and field tests,Journal of Advanced Mechanical Design, Systems, and Manufacturing, vol. 10, no. 6, pp. 1-12, Paper No. 16-00176, 2016.
  13. Xizhe Zang, Xinyu Liu, Yanhe Zhu, and Jie Zhao, Study of human walking patterns based on the parameter optimization of a passive dynamic walking robot,Technology & Health Care, vol. 24, pp. S849-S858, May 2016.
  14. Xizhe Zang, Yixiang Liu, Xinyu Liu, and Jie Zhao, Design and control of a pneumatic musculoskeletal biped robot,Technology & Health Care, vol. 24, pp. S443-S454, May 2016.
  15. Xinyu Liu,Xizhe Zang, Yanhe Zhu, Yixiang Liu, and Jie Zhao, System overview and walking dynamics of a passive dynamic walking robot with flat feet,Advances in Mechanical Engineering, vol. 7, no. 12, pp. 1-10, Dec. 2015.
  16. Yixiang Liu,Xizhe Zang, Xinyu Liu, and Lin Wang, Design of a biped robot actuated by pneumatic artificial muscles,Bio-Medical Materials and Engineering, vol. 26, no. s1, pp. S757-S766, 2015.
  17. Sajid Iqbal,Xizhe Zang, Yanhe Zhu, and Jie Zhao, Bifurcations and chaos in passive dynamic walking: a review,Robotics and Autonomous Systems, vol. 62, no. 6, pp. 889-909, Jun. 2014.
  18. Jie Zhao, Xiaoguang Wu,Xizhe Zang, and Jihong Yan, The Analysis on Period Doubling Bifurcation and Chaos Mirror of Biped Passive Dynamic Robot Gait,Chinese Science Bulletin, vol. 57, no. 14, pp. 1743-1750, May 2012.
  19. Junqiang Li,Xizhe Zang, Jie Zhao, Optimization design and mechanic characteristic experiment of the rotary magnetorheological damper,Journal of Mechanical Engineering, vol.46, no.5, pp.177-182, 2010.
  20. Jie Zhao, Gangfeng Liu, Jihong Yan, andXizhe Zang, Scout robot with wheeling-hopping combination locomotion,Industrial Robot-an International Journal, vol. 36, no. 3, pp. 244-248, 2009.
  21. Meng Wang,Xizhe Zang, Jizhuang Fan, and Jie Zhao, Biological Jumping Mechanism Analysis and Modeling for Frog Robot,Journal of Bionic Engineering, vol.5, no.3, pp.181-188, 2008.
會議論文
  1. Xizhe Zang, Jiaqi Song, Yixiang Liu, and Xinyu Zhou, Design of a Pneumatic Variable Stiffness Ankle Joint, inProceedings of the 2018 IEEE International Conference on Intelligence and Safety for Robotics (IEEE ISR 2018), Shenyang, China, Aug. 24-27, 2018.
  2. Yixiang Liu,Xizhe Zang, Xinyu Zhou, and Yubin Liu, Development of a Complete Multi-phase Dynamics Model for a Biped Robot, inProceedings of the 2018 IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2018), Changchun, China, Aug. 5-8, 2018.
  3. Yixiang Liu,Xizhe Zang, Niansong Zhang, and Ming Wu, Gait Symmetry Can Reduce Dependence on the Intact Limb during Walking with Restriction of Unilateral Metatarsophalangeal Joints, inProceedings of the 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’18), Honolulu, HI, USA, July 17-21, 2018.
  4. Yixiang Liu,Xizhe Zang, Niansong Zhang, Yubin Liu, and Ming Wu, Effects of Unilateral Restriction of the Metatarsophalangeal Joints on Biped Robot Walking, inProceedings of the 8th International Conference on Information Science and Technology (ICIST 2018), Cordoba, Granada, and Seville, Spain, June 30-July 6, 2018.
  5. Yixiang Liu,Xizhe Zang, Zhenkun Lin, and Jie Zhao, Concept and Design of a Lightweight Biped Robot for Walking on Rough Terrain, inProceedings of 2017 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2017), Macau, China, Dec. 5-8, 2017.
  6. Xinyu Liu,Xizhe Zang, Yongsheng Gao, Yixiang Liu, and Zhenkun Lin, Development of a Passive Dynamic Walking Robot Based on Mechanical Structural Parameters Optimization, inProceedings of 2017 IEEE International Conference on Advanced Intelligent Mechatronics (IEEE AIM 2017), Munich, Germany, July 3-7, 2017.
  7. Yixiang Liu,Xizhe Zang, Changle Li, Shuai Heng, Zhenkun Lin, and Jie Zhao, Design and control of a pneumatic-driven biomimetic knee joint for biped robot, inProceedings of 2017 IEEE International Conference on Advanced Intelligent Mechatronics (IEEE AIM 2017), Munich, Germany, July 3-7, 2017.
  8. Xizhe Zang, Zhenkun Lin, Yixiang Liu, Xinran Sun, Jie Zhao, Control Strategy Research for a Biped Walking Robot with Flexible Ankle Joints, inProceedings of the First IEEE International Conference on Robotic Computing (IEEE IRC 2017), Taichung, Taiwan, April 10-12, 2017.
  9. Xizhe Zang, Wenyuan Li, Yixiang Liu, Zhenkun Lin, and Jie Zhao, The Development of Pneumatic Stiffness-Adjustable Foot for Bipedal Robot, inProceedings of the 2017 IEEE 2nd Advanced Information Technology, Electronic and Automation Control Conference (IEEE IAEAC 2017), Chongqing, China, March 25-26, 2017.
  10. Yixiang Liu,Xizhe Zang, Zhenkun Lin, Xinyu Liu, and Jie Zhao, A Bio-inspired Knee Joint for Biped Robots, inProceedings of 2016 IEEE International Conference on Information and Automation (IEEE ICIA 2016), Ningbo, China, July 31-August 4, 2016.
  11. Xizhe Zang, Zhenkun Lin, Yixiang Liu, Yanhe Zhu, and Jie Zhao, The Design of Pipe Cutting Tools for Remote Handling in Maintenance Manipulator for Tokamak, inProceedings of the 14th International Conference on Intelligent Autonomous Systems (IAS-14), Shanghai, China, July 3-7, 2016.
  12. Xizhe Zang, Can Zhang, Yixiang Liu, and Jie Zhao, Environment Feature Recognition Algorithm for Rescue Robot Based on a 2D Laser Radar, inProceedings of the 2016 IEEE International Conference on Real-time Computing and Robotics (IEEE RCAR 2016), Angkor Wat, Cambodia, June 6-10, 2016.
  13. Shengxin Wang, Yongsheng Gao, Feiyun Xiao,Xizhe Zang, Yanhe Zhu, and Jie Zhao, Estimation of Tremor Parameters and Extraction Tremor from Recorded Signals for Tremor Suppression, inProceedings of the 2016IEEE International Conference on Robotics and Automation (IEEE ICRA 2016), Stockholm, Sweden, May 16-21, 2016.
  14. Sajid Iqbal,Xizhe Zang, Yanhe Zhu, Saad H M A A, Jie Zhao,Nonlinear Time-Series Analysis of Different Human Walking Gaits, inProceedings of the 2015 IEEE International Conference on Electro/Information Technology (IEEE EIT 2015), Dekalb, IL, May 21-23, 2015
  15. Xizhe Zang, Yixiang Liu, and Jibin Wang, Development of a Multi-linked Tracked Jack Robot, inProceedings of 2014 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2014), Bali, Indonesia, December 05-10, 2014.
  16. Xinyu Liu,Xizhe Zang, and Jie Zhao, Effects of PD control parameter on walking characteristics of a passive dynamic walker with torso, inProceedings of 2014IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2014), Bali, Indonesia, December 05-10, 2014.
  17. Sajid Iqbal,Xizhe Zang, Yanhe Zhu, Yan Yan Chen, and Jie Zhao, On the Impact of MOOCs on Engineering Education, inProceedings of the 2014 IEEE International Conference on MOOCs, Innovation and Technology in Education (IEEE MITE 2014), Thapar Univ, Patiala, INDIA, December 19-20, 2014.
  18. Yanhe Zhu, Jixing Yang, Hongzhe Jin,Xizhe Zang, and Jie Zhao, Design and Evaluation of a Parallel-Series Elastic Actuator for Lower Limb Exoskeletons, inProceedings of the 2014 IEEEInternational Conference on Robotics and Automation (IEEE ICRA 2014), Hong Kong, China, May 31-June 07, 2014.
  19. Xizhe Zang, Yixiang Liu, and Yanhe Zhu, Structure Design of a Mobile Jack Robot, inProceedings of 2013 IEEE International Conference on Information and Automation (IEEE ICIA 2013), Yinchuan, China, August 26-28, 2013.
  20. Jie Zhao, Xiaoguang Wu,Xizhe Zang, Yanhe Zhu, and Lei Zhu, The analysis on period doubling gait and chaotic gait of the compass-gait biped model, inProceedings of the 2011 IEEE International Conference onRobotics and Automation(IEEE ICRA 2011), Shanghai, China, 2011.
發明專利
  1. 臧希喆, 宋嘉琦, 趙傑, 劉鑫宇, 林珍坤, 衡帥. 一種棘輪式雙向超越離合器.
  2. 臧希喆, 林珍坤, 劉義祥, 趙傑. 一種具有柔性踝關節的雙足機器人.
  3. 臧希喆, 林珍坤, 劉義祥, 趙傑. 一種可變剛度的柔性機器人關節.
  4. 臧希喆, 李文淵, 劉義祥, 林珍坤, 趙傑. 一種可變剛度雙足機器人足部系統.
  5. 臧希喆, 劉義祥, 劉鑫宇, 趙傑. 一種氣電混合驅動的柔性雙足機器人.
  6. 臧希喆, 劉義祥, 劉鑫宇, 李文淵, 趙傑. 一種剛度可調的仿人機器人足部結構.
  7. 臧希喆, 劉義祥, 劉鑫宇, 趙傑. 一種單向串聯彈性驅動器.
  8. 臧希喆, 劉義祥, 劉鑫宇, 趙傑. 一種可實現主動與半被動驅動的仿人機器人膝關節.
  9. 臧希喆, 劉義祥, 劉鑫宇, 趙傑. 一種具有可調柔性的仿人膝關節.
  10. 臧希喆, 劉義祥, 朱延河, 劉鑫宇, 王林. 一種基於氣動人工肌肉的雙足機器人.
  11. 臧希喆, 劉義祥, 朱延河, 劉鑫宇, 王林. 一種氣動人工肌肉驅動的仿人下肢.
  12. 臧希喆, 孫欣然, 李長樂, 朱延河, 趙傑. 輪足轉換式移動機器人系統.
  13. 臧希喆, 孫欣然, 李長樂, 朱延河, 趙傑. 用於移動機器人的輪足轉換機構.
  14. 臧希喆, 朱延河, 劉鑫宇, 白記鋒, 劉義祥. 一種帶髖部振子準被動雙足步行機器人系統.
  15. 臧希喆, 朱延河, 趙傑. 用於多節式移動機器人的主被動結合連線機構.
  16. 臧希喆, 朱延河, 趙傑. 一種搜救機器人用小型化可摺疊切割工具.
  17. 趙傑,臧希喆, 朱延河. 具有投放功能的小型搜救機器人.
  18. 趙傑,臧希喆, 李長樂, 劉剛峰, 劉義祥. 一種移動式頂撐機器人.
  19. 趙傑,臧希喆, 劉鑫宇. 一種有軀體式準被動雙足步行機器人系統.
  20. 趙傑,臧希喆, 張玉華, 朱延河, 任宗偉, 唐術鋒. 基於直流減速電機與旋轉鉤孔的節能連線機構.

國際交流

國家公派
2016年 派出博士生赴Northwestern University, USA（世界排名前20）/ Shirley Ryan AbilityLab（原Rehabilittion Institute of Chicago，康復領域連續28年美國排名第1）聯合培養。
2017年 派出博士生赴Northwestern University, USA / Shirley Ryan AbilityLab聯合培養。
2018年 派出博士生赴The University of Edinburgh, UK（世界排名前30）聯合培養。
國際會議
2017 IEEE International Conference on Advanced Intelligent Mechatronics, Munich, Germany
2016 IEEE International Conference on Robotics and Automation, Stockholm, Sweden
14th International Conference on Intelligent Autonomous Systems, Shanghai, China
2014 IEEE International Conference on Robotics and Biomimetics, Bali, Indonesia
2014 IEEE International Conference on Robotics and Automation, Hong Kong, China
2013 IEEE International Conference on Mechatronics and Automation, Takamatsu, Kagawa, Japan
國際學生
指導、培養1名巴基斯坦籍國際學生獲得工學博士學位。

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