Ph.D. ，Shanghai Jiao Tong university

He is currently a professor with the School of Mechanical Engineering, Shanghai Jiao Tong University.

He serves as the deputy director of the SJTU-BICE Innovation Center of Space Manipulation.

None

Research areas: Mechanism design, dynamics and control

Curent research
● Suspension mechanism design, vehicle dynamics, autonomous navigation and motion planning, trajectory tracking and terrain-adaptive control of planetary rovers;
● Design, visual/force fusion perception and AI control method of satellite robots.

1. *** robotic manipulation in space, Joint Equipment Pre-research Aerospace Joint Fund, 2017/12-2019/12.
2. *** operation mechanism in space. Key Laboratory Fund of Science and Technology on Space Intelligent Control, 2019/06-2020/12.
3. Research on compliance and on-orbit identification of dynamics stiffness of space capturing mechanism for non-cooperative target, National Natural Science Foundation of China , 2016/01-2019/12
4. Research on compliance of accurate manipulation of rescue robot for oil well blowout under the strong impact perturbation, National Natural Science Foundation of China , 2013/01-2015/12
5. Research on compliance of peg-in-hole operation of rescue robot for oil well blowout, Natural Science Foundation of Shanghai , 2012/10-2015/09.
6. Design theory and method for load compliance of rescue robot for oil well blowout, Ph.D. Programs Foundation of Ministry of Education of China, 2013/01-2015/12.

SELECTED PAPERS (As first author or corresponding author)
Papers related to space robot
[1] Bike Zhu; Jun He*; Zhicheng Yuan;et al; Probabilistic path planning for wheel-legged rover in dense environment based on extended MDP and configuration topology analysis, IEEE Transactions on Robotics, 2025, 41: 2512-2532.
[2] Yu Xia; Jun He*; Kaixin Li; et al. Agarwal. Anti-saturation prescribed-time control for stochastic systems of free-flying space robots using a self-adapting non-monotonic approach. Aerospace Science and Technology, 2025, 162 : 110231.
[3] Yu Xia; Jun He*; Hak-Keung Lam; Leszek Rutkowski; Radu-Emil Precup. Non-fragile fuzzy control of input-saturated systems with global prescribed performance via an error-triggered mechanism, Information Sciences, 2025, 711: 122111.
[4] Jun He; Yanlong Sun; Limin Yang; et al. Design and Control of TAWL—A Wheel-Legged Rover With Terrain-Adaptive Wheel Speed Allocation Capability. IEEE/ASME Transactions on Mechatronics, 2022, 27(4):2223-2234.
[5] Jun He; Mingjin Shen, Feng Gao. A Passivity-Based Velocity Control Method of Hardware-in-the-Loop Simulation for Space Robotic Operations. Aerospace, 2022, 9: 368.
[6] Jun He; Jie Li; Zhenchuan Sun; Feng Gao, et al. Kinematic design of a serial-parallel hybrid finger mechanism actuated by twisted-and-coiled polymer. Mechanism and Machine Theory, 2020.10.1, 152: 103951
[7] Jun He; Mingjin Shen. Hybrid Force/Velocity Control for Simulating Contact Dynamics of Satellite Robots on a Hardware-in-the-Loop Simulator. IEEE Access, 2022, 10: 59277-89.
[8] Jun He; Yeanlings Sun; Limin Yang; et al. Model Predictive Control of a Novel Wheeled–Legged Planetary Rover for Trajectory Tracking. Sensors, 2022, 22, 4164.
[9] Jie Li, Jun He*, Yan Xing, Feng Gao. Simultaneous Control of Terrain Adaptation and Wheel Speed Allocation for a Planetary Rover With an Active Suspension System, IEEE robotics and automation letters, 2021, Oct, 6(4): 6410-6417.
[10] Jie Li, Jun He*, Yan Xing, Feng Gao. Dimensional optimization of rocker-bogie suspension for planetary rover based on kinetostatics and terramechanics. Proc IMechE Part C: Journal of Mechanical Engineering Science, 2022, 236(1): 246-262.
[11] Bike Zhu, Jun He*, Jiaze Sun, Yan Xing, Feng Gao. Plane-based grid map: A robot-centric mapping algorithm for wheel-legged rover motion planning in unstructured terrain environments. Proc IMechE Part C: Journal of Mechanical Engineering Science, 2022, 236(20): 10600-10614.
[12] Jun He; Qiaoying Ding; Feng Gao; et al, Kinematic calibration methodology of hybrid manipulator containing parallel topology with main limb, Measurement, 2020, 152: 107334.
[13] Jun He, Feng Gao, Qiao Sun. Design and Kinematic Analysis of a Novel Hybrid Kinematic Mechanism with 7-DOF and Variable Topology for Operation in Space. ASEM journal of Mechanism and Robotics, 2019, 11(1): 011003-1-14.

Papers related to mechanism design
[14] Bike Zhu; Jun He*; Feng Gao; Stiffness optimization design of wheeled-legged rover integrating active and passive compliance capabilities, Mechanism and Machine Theory, 2024, 202:105758
[15] Bike Zhu, Jun He*, Jiaze Sun. Kinematic modeling and hybrid motion planning for wheeled-legged rovers to traverse challenging terrains, Robotica, 2024, 42(1): 153-178.
[16] Jun He, Haichao Zheng, Feng Gao, et al. Dynamics and control of a 7-DOF hybrid manipulator for capturing a non-cooperative target in space, Mechanism and Machine Theory 140 (2019) 83–103
[17] Qingpeng Wen, Jun He*, Feng Gao. Kinematic design of a novel Multi-legged robot with Rigid-flexible coupling grippers for asteroid exploration. Robotica, 2022, 40: 3699-3725.
[18] Qingpeng Wen, Jun He*, Feng Gao. Stochastic Models and Control of Anchoring Mechanisms for Grasping in Microgravity. Applied Sciences, 2022, 12: 3196.
[19] Jun He; Feng Gao*. Mechanism, Actuation, Perception, and Control of Highly Dynamic Multi-legged Robots: A Review. Chinese Journal of Mechanical Engineering, 2020, 33: 79, 30pages.
[20] Jun He, Feng Gao. Type Synthesis for Bionic Quadruped Walking Robots. Journal of Bionic Engineering, 2015, 12(4): 1-12.
[21] Jun He, Feng Gao*, Xiangdun Meng, Weizhong Guo. Type Synthesis for 4-DOF Parallel Press Mechanism Using GF Set Theory. Chinese Journal of Mechanical Engineering, 2015, 28(4): 851-859.
[22] Jun He, Feng Gao, Dan Zhang. Design and performance analysis of a novel parallel servo press with redundant actuation, International Journal of Mechanics and Material in Design, 2014, 10:145-163.
[23] Jun He, Feng Gao, Yongjun Bai, et al. Dynamic modeling and experiment of a new type of parallel servo press considering gravity counterbalance. Chinese Journal of Mechanical Engineering, 2013, 26(6): 1222-1233.
[24] Jun He, Feng Gao, Yongjun Bai. A two-step calibration methodology of multi-actuated mechanical servo press with parallel topology, Measurement, 2013,46(8): 2269-2277
[25] Jun He, Feng Gao, Shengfu Wu, et al. Measure dimension of rotating large hot steel shell using pulse laser on PRRR robot. Measurement, 2012,45 (7):1814-1823.

Conference Papers
[26] Jun He. Keynote speech “Design, control and ground verification test of space manipulating robots”. 7th Asian Conference on Mechanisms and Machine Science, Almaty, Kazakhstan, August 28-30, 2024.
[27] Bike Zhu, Jun He*, Feng Gao. Dynamic modeling and stability performance analysis of a wheeled-legged rover, IFToMM China International Conference on Mechanism and Machine Science and Engineering, Tianjin, China, 2024.
[28] Bike Zhu, Jun He*, Kaiyuan Ma, et al. Efficient motion planning for hybrid locomotion of wheeled-legged planetary rovers, 7th Asian Conference on Mechanisms and Machine Science, Almaty, Kazakhstan, August 28-30, 2024.
[29] Nicholas Kai Xun Lee; Jun He*. Design and Control of a 14-DOF Motion Simulator. 9th International Conference on Mechatronics Engineering (ICOM), August 13-14, 2024, pp. 327-333.
[30] Xianxing Shen, Jun He*, Nicholas Kai Xun Lee, et al. Design and Kinematics Analysis of a Novel Quadruped Climbing Robot with Gripper. 7th Asian Conference on Mechanisms and Machine Science, Almaty, Kazakhstan, August 28-30, 2024, pp. 351-360.
[31] Zhicheng Yuan, Jun He*, Kai Wu, et al. Inertia parameters identification in the process of capturing non-cooperative target using a 7-DOF manipulator. 7th Asian Conference on Mechanisms and Machine Science, Almaty, Kazakhstan, August 28-30, 2024.
[32] Jun He, Zhenchuan Sun, Feng Gao. Design of Three-finger Capturing Mechanism Using Artificial Muscles of Twisted and Coiled Polymer. Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, Krakow, Poland, June 30 - July 4, 2019, pp. 2975-2984.
[33] Qiaoying Ding, Jun He*. The Detection of Non-Cooperative Targets in Space by Using 3D Point Cloud. 5th International Conference on Control, Automation and Robotics, Beijing, China, April 19-22, 2019, pp.545-549.
[34] Xu Cai, Jun He*, Feng Gao. Kinematic Modeling and Simulation of a Leg-Wheel Robot for Unexplored Rough Terrain Environment. IFToMM International Conference on Mechanisms, Transmissions and Applications, Dalian, China, October 9-11, 2019, pp. 464-473.
[35] Qingpeng Wen, Jun He*, Zhicong Wang, Jiaze Sun, Feng Gao. Design and Kinetostatic Analysis of a Legged Robot for Asteroid Exploration. The 14th International Conference on Intelligent Robotics and Applications, Yantai, China, October 22-25, 2021, pp.498-509.
[36] Jie Li, Jun He*, Yan Xing, and Feng Gao. Towards Uniform Normal Force Distribution by Roll and Height Control for a Planetary Rover with Active Suspension, The 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP 2021), Shanghai, China, November 26-28, 2021, pp. 275-280.
[37] Bike Zhu, Jun He*, Yan Xing and Feng Gao. A Plane-based Map for Wheel-legged Rover Efficient Motion Planning during Planetary exploration, The 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP 2021), Shanghai, China, Nov. 26-28, 2021, pp.90-95.
[38] Qiaoying Ding, Jun He*. The detection of non-cooperative targets in space by using 3D point cloud .2019 5th International Conference on Control, Automation and Robotics (ICCAR).Beijing，April 19-22
[39] Haichao Zheng, Jun He*. A 13-DOF hardware-in-loop (HIL) simulator for space operation and its compliant control method. International Conference on China Mechanisms and Machinery Science (CCMMS 2018), Aug.2-4, Beijing, China.

Design and simulation of mechatronic systems (4 Credits), undergraduate
Advanced Spatial Mechanism (3 Credits), graduate student

Member of IFToMM China-Beijing May 2023 - present
Senior member of the Robotics Committee
of the China Mechanical Engineering Society June 2019 - present
Member of the Space Robot Control Committee
of Chinese Association of Automation December 2018-present

The first Prize of Shanghai Technology Invention Awards November 2017
Prize for high-impact research paper (China Mechanical Engineering Society) November 2017