2004-2008   上海交通大學(xué)   博士

2010.7-   上海交通大學(xué) 機(jī)械與動(dòng)力工程學(xué)院 歷任助理研究員、副教授、教授
2013.5-   上海交通大學(xué) 機(jī)械與動(dòng)力工程學(xué)院 碩士生導(dǎo)師
2016.5-   上海交通大學(xué) 機(jī)械與動(dòng)力工程學(xué)院 博士生導(dǎo)師

宇航空間機(jī)構(gòu)與機(jī)器人

 ● 以星球車為對(duì)象，研究主動(dòng)懸架機(jī)構(gòu)設(shè)計(jì)、車輛動(dòng)力學(xué)、自主導(dǎo)航與運(yùn)動(dòng)規(guī)劃、軌跡跟蹤及動(dòng)態(tài)自適應(yīng)控制；
 ● 以衛(wèi)星機(jī)器人為對(duì)象，研究空間精細(xì)操控機(jī)構(gòu)設(shè)計(jì)、視覺/力覺融合感知及AI控制方法；

 ● 團(tuán)隊(duì)具有豐富的工程實(shí)踐經(jīng)驗(yàn)，與航天院所合作研制多臺(tái)星球車、七自由度冗余機(jī)械臂，及機(jī)器人末端捕獲、精細(xì)操作工具等樣機(jī)，開發(fā)軟硬件控制系統(tǒng)，完成微重力環(huán)境或地外星表模擬環(huán)境驗(yàn)證實(shí)驗(yàn)，為空間任務(wù)實(shí)施提供了關(guān)鍵支撐；
 ● 擁有載人星球車、輪腿式星球車、10自由度空間精細(xì)操作模擬平臺(tái)、多足攀附機(jī)器人等整機(jī)系統(tǒng)，視覺、力覺傳感器、自研微型驅(qū)動(dòng)器、自研控制器等單元器件，機(jī)器人標(biāo)定測(cè)量設(shè)備等，具有良好的軟硬件實(shí)驗(yàn)環(huán)境，為科研工作提供切實(shí)保障。

 課題組研究生的選題以宇航空間機(jī)器人為背景，但關(guān)鍵技術(shù)同樣適用于工業(yè)及服務(wù)機(jī)器人、智能駕駛領(lǐng)域。近年，研究生畢業(yè)去向包括：ABB機(jī)器人（2019屆）、UR機(jī)器人（2019屆）、上汽新能源（2019屆）、華為（2020屆）、聯(lián)影醫(yī)療（2020屆）、中興（2021屆）、鑒智機(jī)器人（2021屆）、海康威視（2022屆）、云驥智行（2023屆）、匯川（2024屆）、比亞迪（2024屆）、埃夫特（2025屆）、穹徹（2025屆）等機(jī)器人與人工智能領(lǐng)域的知名企業(yè)，以及南方科大、上海大學(xué)等高等院校，或國家重點(diǎn)骨干企業(yè)航天科技、中航工業(yè)下屬的大型科研院所。

 課題組努力營造和諧、積極向上的科研氛圍，打造一流科研環(huán)境，熱忱歡迎機(jī)構(gòu)學(xué)與機(jī)器人、車輛工程等相關(guān)專業(yè)的學(xué)生加盟我們團(tuán)隊(duì)。

上海市航空航天智能制造專業(yè)技術(shù)服務(wù)平臺(tái)， 主任

中國機(jī)械工程學(xué)會(huì) 空間機(jī)構(gòu)分會(huì)，委員

中國機(jī)械工程學(xué)會(huì) 機(jī)器人分會(huì)，委員

中國機(jī)械工程學(xué)會(huì) 機(jī)械傳動(dòng)分會(huì)，委員

中國機(jī)械工程學(xué)會(huì) IFToMM中國委員會(huì)，委員
中國自動(dòng)化學(xué)會(huì)空間及運(yùn)動(dòng)體控制委員會(huì)，委員

主持國家自然科學(xué)基金3項(xiàng)、國家重點(diǎn)研發(fā)計(jì)劃課題2項(xiàng)，及ZB預(yù)研航天聯(lián)合基金等宇航空間機(jī)器人領(lǐng)域的國防課題20余項(xiàng)，近年代表性課題包括：
 2024-2027：國家重點(diǎn)研發(fā)計(jì)劃課題，大型重載冗余驅(qū)動(dòng)模擬技術(shù)與平臺(tái)構(gòu)建，負(fù)責(zé)人

 2025-2027：GF科工局項(xiàng)目，***拋射機(jī)器人的設(shè)計(jì)與控制，負(fù)責(zé)人

 2025-2027：國防項(xiàng)目，月面微小型機(jī)器人開發(fā)，負(fù)責(zé)人

 2022-2025：國家自然科學(xué)基金，深空探測(cè)主動(dòng)腿式著陸機(jī)構(gòu)的順應(yīng)性設(shè)計(jì)與控制，負(fù)責(zé)人
 2022-2024:  中國航天科技集團(tuán)，***移動(dòng)系統(tǒng)，負(fù)責(zé)人
 2022-2024:  中國航天科技集團(tuán)，***空間機(jī)器人捕獲非合作目標(biāo)***，負(fù)責(zé)人
 2021-2023:  中國航天科技集團(tuán)，***自主移動(dòng)機(jī)器人總控系統(tǒng)，負(fù)責(zé)人
 2021-2023:  GF科工局項(xiàng)目，剛?cè)狁詈峡臻g操控機(jī)構(gòu)的順應(yīng)性設(shè)計(jì)理論與控制方法，負(fù)責(zé)人
 2021-2022：國家重點(diǎn)研發(fā)計(jì)劃課題，六足冰壺機(jī)器人控制系統(tǒng)開發(fā)與示范應(yīng)用，負(fù)責(zé)人

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.    Nicholas Kaixun Lee, Jun He*. A novel calibration method of 6-DOF parallel kinematic mechanisms using artificial deep neural networks. Measurement Science and Technology, 2025, 36: 095003.

5.    Zeyang Zhong, Jun He*. Design of Multifunctional End-Effectors for On-Orbit Maintenance Operations. 23rd IFAC Symposium on Automatic Control in Aerospace. Harbin, China, Aug. 2025.

6.    Zhicheng Yuan, Jun He*, Xianxing Shen. An identification and elimination strategy for disturbance moment and force in full-physical simulation. 23rd IFAC Symposium on Automatic Control in Aerospace. Harbin, China, Aug. 2025.

7.     Kaiyuan Ma, Biyun Zhang, Jun He, Jiayi Tan. From Music to Motion: Learning Robotic Emotional Body Expressions from Musical Instruments Playing. 25th International Conference on Control, Automation and Systems (ICCAS). Korea, 2025.

8.    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

9.    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.

10.  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.

11.  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.

12.  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.

13.  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.

14.  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.

15.  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.

16.  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.

17.  Bike Zhu, Jun He*, Jiaze Sun, Yan Xing and Feng Gao. Plane-based grid map: A robot-centric mapping algorithm for wheel-legged rover motion planning in unstructured terrain environments. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2022, doi:10.1177/09544062221104376.

18.  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, pp. 3699-3725.

19.  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, November 26-28, 2021.

20.  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.

21.  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 (ICIRA2021), Yantai, China, October 22-25, 2021.

22.  Jie Li, Jun He*, Yan Xing, and 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, VOL. 6, NO. 4, OCTOBER 2021.

23.  Jie Li, Jun He*, Yan Xing, Feng Gao. Dimensional optimization of rocker-bogie suspension for planetary rover based on kinetostatics and terramechanics. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2021. doi:10.1177 /09544062211027200.

24.  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

25.  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.

26.  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.

27.  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.

28.   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.

29.   Jun He, Feng Gao. Type Synthesis for Bionic Quadruped Walking Robots. Journal of Bionic Engineering, 2015, 12(4): 1-12.

30.   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.

31.   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.

32.   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.

33.   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

34.    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.

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