科研项目、成果、专利

国家自然科学基金项目：            

[1] 61573198 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] 60905061 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] 60875056 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] 60575048 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

国家重点研发计划智能机器人专项:

[1] 2019YFB1310604 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

天津市新一代人工智能科技重大专项:

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

专利

[1] 基于弹性元件的机器人雕刻方法. ZL201610120462.6, 2016. 

[2] AGV货叉辅助矫正装置. ZL201610046144.X, 2016. 

[3] 基于压簧的线性串联弹性驱动器. ZL201510945316.2, 2015.

[4] 机器人可变形操作臂参数标定方法. ZL201410524095.7, 2014. 

[5] 基于iPhone智能手机的机器人人机交互系统. ZL201010543931.8, 2010. 

[6] 一种三维喷绘供墨系统. ZL200910228322.0, 2009.

[7] 三维动态展示系统. ZL200910067961.3, 2009. 

[8] 竞争型网络机器人对弈系统. ZL200810154008.8, 2008.

[9] 可任意固定机器人位置的真空吸附装置. ZL03119500.8 (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. ZL03119499.0 (B25H13/00), 2005

撰写论文、专著、教材等

[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.    

会议论文

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.                                                             

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.                                  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.                                                                 

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.                                                                 

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.                                                                 

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.   

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