顧義坤，女，1981年生，工學博士，副研究員，碩士生導師，現任職於哈爾濱工業大學機器人研究所，機器人技術與系統國家重點實驗室。
基本介紹
- 中文名：顧義坤
- 學位/學歷：博士
- 職業：教師
- 專業方向：機械工程
- 任職院校：哈爾濱工業大學
個人經歷,研究方向,學術成果,
個人經歷
工作經歷
2018年01月- 哈爾濱工業大學 機電工程學院 副研究員
2016年01月-2017年01月 美國約翰霍普金斯大學 訪問學者
2013年03月-2017年12月 哈爾濱工業大學 機電工程學院 講師
教育經歷
1. 2000年-2004年，就讀於哈爾濱工業大學機電工程學院，機械設計製造及其自動化專業，獲工學學士學位。
3. 2006年-2011年，就讀於哈爾濱工業大學機電工程學院，機械電子工程專業，獲工學博士學位。
研究方向
1. 機器人驅動及運動控制
2. 空間機器人地面試驗
學術成果
代表性科研項目
擬人雙機械手緊協調柔性操作方法研究
XX機械臂地面專項驗證試驗系統
仿人型機器人雙臂協調操作方法研究
雙冗餘協調機械臂的自適應力控制
發表論文
Gu Yikun*, Ni Fenglei, Yang Dapeng, Liu Hong. Switching State Phase Shift Method for Three-Phase Current Reconstruction with a Single DC-Link Current Sensor. IEEE Transaction on Industrial Electronics. 2011, 58(11):5186-5194. ( IF2011: 5.16, IF2018: 7.503)
Yikun Gu , Dapeng Yang, Luke Osborn, Daniel Candrea, Hong Liu, Nitish Thakor. An Adaptive Socket with Auto-Adjusting Air Bladders for Interfacing Transhumeral Prosthesis: Pilot Study. Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine. Published online (06/05/2019),
Ren Y, Chen Z.S, Liu Y.C, Gu Y.K*, Jin M.H, Hong Liu. Adaptive hybrid position/force control of dual-arm cooperative manipulators with uncertain dynamics and closed-chain kinematics[J]. Journal of the Franklin Institute. Volume 354, Issue 17, November 2017, Pages 7767-7793.(IF 2016:3.139, Thomson Reuters JCR Q1)
Baoshi Cao, Kui Sun, Tian Li, Yikun Gu, Minghe Jin, Hong Liu. Trajectory Modified in Joint Space for Vibration Suppression of Manipulator. IEEE ACCESS. 2018,6:57969-57980.(IF2018: 4.096, JCR Q1)
Yi Ren, Yang Zhou, Yechao Liu, Yikun Gu, Minghe Jin, Hong Liu. Robust adaptive multitask tracking control of redundant manipulators with dynamic and kinematic uncertainties and unknown disturbances. Advanced Robotics, 2017, 31(9): 482-495. (IF 2016:0.92)
Gu Yikun, Ni Fenglei, Yang Dapeng, Liu Hong. A novel phase current reconstruction method using a single DC-link current sensor [C]. Proceedings of the 2009 IEEE International Conference on Mechatronics and Automation (ICMA 2009), August 2009, Changchun, China: IEEE, 2009:4874-4879.
Yi Ren, Yang Zhou, Yikun Gu*, Yechao Liu, Minghe Jin, Hong Liu. Robust Adaption Based Backlash and Friction Compensation for 3-DOF Robotic Head with Dynamic Uncertainties. IEEE International Conference on Robotics and Biomimetics. December, 2016, Qingdao, China.
Li Jiang, Shaotian Lu, Yikun Gu*, Jingdong Zhao. Time-Jerk Optimal Trajectory Planning for a 7-DOF Redundant Robot Using the Sequential Quadratic Programming Method. International Conference on Intelligent Robotics and Applications. August, 15-18, 2017, Wuhan, China.
Baoshi Cao, Kui Sun, Yikun Gu, Minghe Jin, Hong Liu. Workspace Analysis Based on Manipulator Pose Dexterity Map.3rd International Conference on Robotics and Automation Engineering (ICRAE). NOV 17-19, 2018, Guangzhou, China
Baoshi Cao, Yikun Gu, Kui Sun, Minghe Jin, Hong Liu. Development of HIT Humanoid Robot. International Conference on Intelligent Robotics and Applications. August, 15-18, 2017, Wuhan, China.
Lu Shaotian, Gu Yikun, Zhao Jingdong, Li Jiang. An Iterative Calculation Method for Solve the Inverse Kinematics of a 7-DOF Robot with Link Offset. International Conference on Intelligent Robotics and Applications. August, 15-18, 2017, Wuhan, China.
Yang Liu, Zongwu Xie, Yikun Gu*, Chunguang Fan, Xiaoyu Zhao and Hong Liu. Trajectory Planning of Robot Manipulators based on Unit Quaternion. 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Sheraton Arabella Park Hotel, Munich, Germany, July 3-7, 2017
Yang Liu, Yikun Gu, Zongwu Xie, Haitao Yang, Zhichao Wang, Hong Liu. Virtual Simulation of the Artificial Satellites Based on OpenGL. International Conference on Intelligent Robotics and Applications. August, 15-18, 2017, Wuhan, China.
Zongwu Xie, Jiayuan Lu, Yikun Gu, Haitao Yang, Xiaoyu Zhao, Minghe Jin. Motion Optimization of Redundant Free-floating Space Robot in Cartesian Space[C]// The IEEE International Conference on Real-time Computing and Robotics, Okinawa, Japan, 2017
Zhao Jingdong, Han Junguang, Gu Yikun*, Zhao Liangliang, Ni Fenglei and Liu Hong. Translational and Tumbling Gaits for Trinal-branch Robots. ROBIO 2017.
Daniel Candrea, Avinash Sharm, Luke Osborn, Yikun Gu, and Nitish Thakor. An Adaptable Prosthetic Socket: Regulating Independent Air Bladders Through Closed-Loop Control. IEEE International symposium on circuits & systems. Baltimore, MD, USA. May 28-31, 2017
Jin Dang, Fenglei Ni, Yikun Gu, Minghe Jin, Hong Liu. A Highly Integrated and Flexible Joint Test System Based on DSP/FPGA-FPGA. IEEE International Conference on Robotics and Biomimetics, 2009, pp: 1877-1882.
顧義坤，劉宏. 柔性關節機械臂自適應神經網路動態面控制. 華中科技大學學報.2018.09
顧義坤, 倪風雷, 劉宏. Xilinx FPGA自主配置管理容錯設計研究. 宇航學報, 2012, 33 (10), 1519-1527.
顧義坤, 倪風雷, 劉宏. 基於RENN的柔性關節機械臂自適應動態面控制. 控制與決策, 2011, 26 (12), 1783-1790.
顧義坤, 倪風雷, 楊大鵬, 党進, 劉宏. 一種基於母線電流感測器的相電流重構新方法. 電機與控制學報, 2009, 13(6):811-816.
專利
顧義坤，倪風雷，金明河，劉業超，劉宏。用於獲取機器人關節位置反饋信息的感測器數據融合方法。授權日期：2017.01.11.
郭闖強，倪風雷，謝宗武，劉宏，顧義坤，張慶利，党進，介黨陽。一種適合空間環境套用的多路輸出電源。授權日期：2011.01.05
