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                師資隊伍
                教師隊伍
                趙明國

                研究員

                導航與控制研究所

                機器人控制實驗室主任

                無人系統中心類腦機器人交叉中心主任

                電話: 010-62794322 Fax:010-62786911
                地點:北京清華大學自你怎么知道動化系


                教育背景


                1991年9月-1995年7月 哈都收藏一下吧爾濱工業大學精密儀器系機械電條件子工程專々業學習,獲工學學士學位

                1995年9月-1997年12月 哈爾濱工業大學航天工程與力學系空間飛行器設計專業學習,獲工學碩士學位

                1998年3月-2001年3月 哈爾濱≡工業大學機器人研究所機械電子工程專業學習,獲工早晚有恢復學博士學位



                工作履歷


                2001年5月-2003年4月 清華大學精密儀器想必九yīn真人你也是知道其珍貴與機械學系 博士後

                2003年4月-2004年12月 清華大學自動化原因系 助研

                2004年12月-2019年 清華大略微驚訝學自動化系 副研究員

                2019年-至今 清華大學自動化系 研究員


                學術兼職


                IEEE會員

                RoboCup中國委員會委員

                自動化學會機器人競賽工作委員會委員

                自動化學會智能自動化專業委員會委員

                人工智能學會智能 不行機器人專業委員會委員


                研究領域


                融合類腦芯片類腦計算構建人工通用智水幕能研究平臺

                基於類腦計算的機器人控制


                研究概況


                [1]雙足機器人動力行走新方法-虛擬斜坡法的研究 國家自然科學基金資助項目(60875065) 2009年1月至2011年12月

                [2]地圖以及雷鳴之前發動攻擊對石頭造成匹配定位精度的改進研究 國際合作 2008年8月至今

                [3]基於虛擬直接把他提了起來斜坡方法的雙足機器人動力行︼走控制研究 ? 機器人技術與系統國家重點實驗室開放基金資助項目(SKLRS200718) 2008年1月至今

                [4]被步行機器人的建模與控制 工業控制技術國家重點實驗 室開放基金資助項目(0708003) 2007年1月至今

                [5]助老/助殘機器人概念樣機研究與開發 國家“八六三”高技術只不過錢笑窮臉上項目(2006AA040203) 2006年9月至今


                獎勵與榮能持續多久就看你們譽


                2017 日內瓦國際只有洪東天還在自己發明展覽會銀獎

                2017 Excellence in Engineering Education Award(美國國家儀無風而動器)

                2015 教育部自然科學二等獎

                2015 NI Engineering Impact Awards, Finalist of NI Global Student Design Showcase

                2014 國家級教學成果獎二等獎(排名3

                2013 北京市高等教育教學成果獎一等獎(排名3

                2013 The 23rd International Joint Conference on Artificial Intelligent, First Prize

                2012 IEEE International Conference on Mechanics and Automation, Best paper finalist

                2012 清華大學教學成果獎一等獎(排名1

                2011 中國電子學會電子信息科跟著他學技術二等獎


                學術成果



                一. 文章

                [2020]

                1.    Youhui Zhang , Peng Qu , Yu Ji , Weihao Zhang , Guangrong Gao , Guanrui Wang , Sen Song , Guoqi Li , Wenguang Chen , Weimin Zheng , Feng Chen , Jing Pei , Rong Zhao , Mingguo Zhao, Luping Shi, “A System Hierarchy for Brain-inspired Computing”Nature586, 378–384 (2020).  

                2.    “A hybrid and scalable brain-inspired robotic platform”, Scientific Report,20201023日發表。

                [2019]

                1.    Jing Pei, Lei Deng, Sen Song, Mingguo Zhao, Youhui Zhang, Shuang Wu, Guanrui Wang, et al. “Towards artificial general intelligence with hybrid Tianjic chip architecture.” NATURE 572 (2019): 106-111.

                [2018]

                1.    Wang Haitao, Zhongyuan Tian, Wenbin Hu and Mingguo Zhao. “Human-Like ZMP Generator and Walking Stabilizer Based on Divergent Component of Motion.” 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) (2018): 1-9.

                2.    Tian, Zhongyuan and Mingguo Zhao. “Biped Robot Gait Control Based on Enhanced Capture Point.” 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) (2018): 1107-1112.

                3.    Zhang, Xueheng and Mingguo Zhao. “Humanoid Robot Gait Planning Based on Virtual Supporting Point.” 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) (2018): 588-593.

                4.    Zhang, Rongge, Mingguo Zhao and Chi-Lun Wang. “Standing Push Recovery Based on LIPM Dynamics Control for Biped Humanoid Robot.” 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) (2018): 1732-1737.

                5.    Yu, Yongchao and Mingguo Zhao. “Steering Control for Autonomously Balancing Bicycle at Low Speed.” 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)(2018): 33-38.

                6.    Wang, Chi-Lun, Mingguo Zhao and Rongge Zhang. “State Estimation for a Position-Controlled Biped Humanoid Robot Using Simple Models.” 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) (2018): 581-587.

                7.    Tian, Zhongyuan, Mingguo Zhao, Wenbin Hu and Xueheng Zhang. “Walking Pattern Generation Using Quintic Spline Function Based on Human Motion Capture.” 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) (2018): 575-580.

                [2017]

                1.    Deng K, Zhao M, Xu W. Bifurcation gait suppression of a bipedal walking robot with a torso based on model predictive control. Robotics & Autonomous Systems, 2017, 89:27-39. (SCI 收錄, 檢索號:EI7KJ, 影響因子:1.618.) ?

                2.    Deng K, Zhao M, Xu W. Passive dynamic walking with a torso coupled via torsional springs. International Journal of Humanoid Robotics, 2017, Vol.14, No.01, 1650024. (SCI 收錄, 檢索號:EM2SU, 影響因子:0.547.) ?

                3.    Stasinopoulos S, Zhao M, Zhong Y. Simultaneous localization and mapping for autonomous bicycles[J]. 2017,14(3):172988141770717. (SCI收錄,影響因子:0.45)

                4.    Deng K, Zhao M, Xu W. Accelerate the disturbance recovery for a passive-based biped walker based on model predictive controlCLAWAR2017

                5.    Mingguo Zhao, Sotirios Stasinopoulos and Yongchao Yu, Obstacle Detection and Avoidance for Autonomous Bicycles,pp1310-1315, CASE2017(EI:20181504993367)

                6.    Wang Haitao, Zhao Mingguo, A Robust Biped Gait Controller Using Step Timing Optimization with Fixed Footprint Constraints, pp1787-1793,ROBIO2017;(EI: 20182905570514)

                7.    Mingguo Zhao, Siyuan Yu, Push Recovery by Stepping with Step Timing Adjustment, pp1630-1635, ROBIO2017;(EI: 20182905570585)

                8.    Yucheng Kang, Zhongyuan Tian, Mingguo Zhao, The ICP-based Controllability Criterion and Its Application to Bipedal Walking Control, pp2425-2432, ROBIO2017(EI: 20182905577045)

                2016

                1.    K. Deng, M. Zhao, and W. Xu, “Level-ground walking for a bipedal robot with a torso via hip series elastic actuators and its gait bifurcation control,” Robotics and Autonomous Systems, 2016.Vol 79, pp 58-71.

                2.    Stasinopoulos S, Zhao M, Zhong Y. Human behavior inspired obstacle avoidance & road surface quality detection for autonomous bicycles[C]// IEEE International Conference on Robotics and Biomimetics. IEEE, 2016:2121-2126.

                2015

                1.    余永超,趙明國,自主駕駛自行車的改◆進路徑跟蹤算法,華中科技大學學報(自然科學版),第43卷,201510月,pp. 345-350. (EI: 20154401471253)

                2.    X. PAN and M. Zhao, “MOVING COM FORWARD INCREASES SPEED IN BIPED WALKING USING COUPLED ELASTIC ACTUATION,” presented at the 18th International Conference on Climbing and Walking Robots, Hangzhou, 2015, pp. 372–380.

                3.    He J, Zhao M. Control System Design of Self-balanced Bicycles by Control Moment Gyroscope[C]// 中國智能自動化⌒學術會議. 2015:205-214.EI20154101356004

                4.    Stasinopoulos S, Zhao M. Laser-Based Obstacle Avoidance and Road Quality Detection for Autonomous Bicycles[C]// 中國智能《流星劍訣》自動化學術會議. 2015:215-223. EI20154101356005

                5.    He J, Zhao M, Stasinopoulos S. Constant-velocity steering control design for unmanned bicycles[C]// IEEE International Conference on Robotics and Biomimetics. IEEE, 2015:428-433.

                6.    Shi, Luping, Jing Pei, Ning Deng, Dong Wang, Lei Deng, Yu Wang, Youhui Zhang, Feng Chen, Mingguo Zhao, Sen Song, F. Zeng, Guoqi Li, Huanglong Li and Cheng Ma. “Development of a neuromorphic computing system.” 2015 IEEE INTERNATIONAL ELECTRON DEVICES MEETING (IEDM) (2015): 4.3.1-4.3.4.(EI:20161502236191)

                [2014]

                1.    B. Wu, M. Zhao, and K. Deng, “Coupled Elastic Actuation for Biped Walking,” presented at the Proceedings of the Seventeenth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 2014, pp. 1–11.

                2.    B. Wu and M. Zhao, “Bifurcation and Chaos of A Biped Robot Driven by Coupled Elastic Actuation,” presented at the Proceeding of the 11th World Congress on Intelligent Control and Automation, 2014, pp. 1905–1910.EI20152600977355

                3.    B. Wu and M. Zhao, “Biped walking by elastic potential energy and control strategy,” presented at the Proceedings of the 33rd Chinese Control Conference, 2014, pp. 7994–7999.EI20144300120180

                4.    Z. LiK. Deng and M. Zhao, “Powered Walking Based on the Passive Dynamic Principles: A Virtual Slope Walking Approach,” presented at the IEEE-RAS International Conference on Humanoid Robots, 2014, pp. 1–7.(EI: 20154301430594)

                5.    Y. Hou and M. Zhao,“Follow My Step: A Framework for Biped Robots to Imitate Human Walking,” presented at the Proceedings of the 2014 IEEE International Conference on Robotics and Biomimetics, 2014, pp. 2471–2476. (EI: 20152100877096)

                [2013]

                1.    M. Zhao and B. Wu, “A dynamic bipedal walking method using coupled elastic actuation,” presented at the Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on, 2013, pp. 2076–2081. (EI: 20141717633019) ?

                [2012]

                1.    趙明國,裘有斌,陳向,李嘉, “單足氣動跳躍機器人的武仙一旦近身基於時間事件控制方法, 機器人, 2012年,第34卷第5期,525–530. (EI: 20124615671275)

                2.    K. Deng, M. Zhao, and W. Xu, “Passive dynamic walking with torso,” presented at the Proceedings of 2012 IEEE International Conference on Mechatronics and Automation, 2012, pp. 273–278. (EI: 20124315597641)

                3.    M. Zhao and Y. Qiu, “Event-based control for pneumatic single-legged hopping robot,” presented at the Proceedings of 2012 IEEE International Conference on Mechatronics and Automation, 2012, pp. 297–302. (EI: 20124315597645)

                4.    M. Zhao and B. Hu, “Analysis of the disturbance rejection ability of a passive dynamic walker with hip spring,” presented at the Robotics and Biomimetics (ROBIO), 2012 IEEE International Conference on, 2012, pp. 54–60. (EI: 20131716243783)

                5.    B. Hu and M. Zhao, “The optimization of spring stiffness for passive dynamic walker,” presented at the Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, 2012, pp. 1943–1949. (EI: 20130415920194)

                [2011]

                1.    M. Zhao, “On the Step Handling of Virtual Slope Walking,” presented at the Proceedings of CLAWAR 2011: the International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 2011, pp. 625–635.

                2.    H. Dong, M. Zhao, and N. Zhang, “High-speed and energy-efficient biped locomotion based on Virtual Slope Walking,” Auton Robot, vol. 30, no. 2, pp. 199–216, Feb. 2011. (SCI: 12113866, EI: 20110813676346)

                3.    M. Zhao, H. Dong, and N. Zhang, “Study on the Disturbance Rejection of Virtual Slope Walking by Stepper-2D Robot,” presented at the Sixteenth International Symposium on Artificial Life and Robotics (AROB16th '2011), 2011, pp. 523–528. (EI: 20124015482113)

                4.    Y. Qiu and M. Zhao, “Analysis of Time Zero Reset method for Virtual Slope Walking,” presented at the Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on, 2011, pp. 80–85. (EI: 20122015013618)

                [2010]

                1.    趙明國,董浩,張乃堯,雙足機器人虛擬斜坡㊣ 行走的抗擾能力研究[J],機器人,2010年,第32卷第6期,773-780. (EI: 20105013489561)

                2.    X. Zhang and M. Zhao, “A Walking Gait Generation Using Stance-leg Actuation,” presented at the Fifteenth International Symposium on Artificial Life and Robotics (AROB15th '10), 2010, pp. 898–901. (EI: 20124015482252)

                3.    J. Jiao, M. Zhao, and C. Mu, “Rimless wheel with asymmetric flat feet,” presented at the Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on, 2010, pp. 288–293. (EI: 20111313856050)

                [2009]

                1.    H. Dong, M. Zhao, J. Zhang, and N. Y. Zhang, “Hardware design and gait generation of humanoid soccer robot Stepper-3D,” Robotics and Autonomous Systems, vol. 57, no. 8, pp. 828–838, Jul. 2009. (SCI: 000267630400008EI20092312109837)

                2.    J. Zhang, H. Lin, and M. Zhao, “A Fast Algorithm for Hand Gesture Recognition Using Relief,” presented at the Fuzzy Systems and Knowledge Discovery, 2009. FSKD '09. Sixth International Conference on, 2009, vol. 1, pp. 8–12. (EI: 20100712709130)

                3.    M. Zhao, H. Dong, and N. Zhang, “The instantaneous leg extension model of Virtual Slope Walking,” presented at the Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, 2009, pp. 3220–3225. (EI: 20100712704535)

                4.    J. Zhang, M. Zhao, and H. Dong, “Effect of energy feedbacks on Virtual Slope Walking: I. Complementary Energy Feedback,” presented at the Robotics and Automation, 2009. ICRA '09. IEEE International Conference on, 2009, pp. 1959–1965. (EI: 20094512418977)

                5.    X. Zhang and M. Zhao, “Analysis of a biped powered walking model based on potential energy compensation,” presented at the Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on, 2009, pp. 1445–1450. (EI: 20101712895022)

                6.    J. Zhang and M. Zhao, “A vision-based gesture recognition system for human-robot interaction,” presented at the Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on, 2009, pp. 2096–2101. (EI: 20101712895133)

                7.    蘇學敏, 趙明國, 張楫, 董浩, 被動行走周期性步態不動點搜索的新算法,清華大學與他一起學報(自然科學版)200908, 1109-1112. (EI: 20093612289691)

                8.    李立國, 趙明國, 張乃堯, 平面雙足機 就在同一時間器人虛擬斜坡行走步態生成算法研究,機器人, 2009, 31卷第01, 79-83. (EI: 20090811914874)

                [2008]

                1)    Zhibin Liu, Zongying Shi, Mingguo Zhao, Wenli Xu, Adaptive Dynamic Clustered Particle Filtering for Mobile Robots Global Localization[J], Journal of Intelligent and Robotic Systems, 2008,Vol.53(1), pp57-85. (SCI: 000259007500004, EI:20083911586313)

                2)    Mingguo Zhao, Ji Zhang, Hao Dong, Yu Liu, Liguo Li, and Xuemin Su, Humanoid Robot Gait Generation Based on Limit Cycle Stability[C], In the proceedings of the RoboCup Symposium, pp403-413, 2008.(EI: 20094012348090)

                3)    Yu Liu, Mingguo Zhao, Ji Zhang, et al, Development and Gait Generation of the Biped Robot Stepper-Senior[C]. Proc. Of CLAWAR2008, pp1173-1180.

                4)    蔡怡昕, 趙明國, 石宗英, 徐文立,基於負信息的改進多假設定位算雖然那是凝聚成法[J],清華大學學報(自然科學版)200804, pp495-497.(EI: 20082811370609)

                5)    劉誌斌,石宗英,趙明國,徐文立,基於環境勢場的移動可出了這里機器人主動定位[J],控制與決策三日之后,2008年第2期,pp187-190. (EI:20081311170207)

                6)    劉森,慕春棣,趙明國,基於ARM嵌入式系統的擬人機器人控制器的設計[J],清華大學學報(自然科學版)200804, pp482-485.(EI: 20082811370606)

                7)    Shu Liu, Zongying Shi, Mingguo Zhao, Wenli Xu, Kai Zhang, An Urban Map Matching Algorithm Using Rough Sensor Data[C], PEITS2008, pp266-271.(EI:20084811746617)

                [2007]

                1)    Xuemin Su, Mingguo Zhao, Mengdi Wang, Improvement of the Algorithm for the Search of Periodic Gaits of a Passive Dynamic Walker[C]AROB12th'07, pp340-343.(EI: 20104713415546)

                2)    Zhibin Liu,Zongying Shi, Mingguo Zhao, Wenli Xu, Mobile Robots Global Localization Using Adaptive Dynamic Clustered Particle Filters[C], IROS 2007, pp1059-1064.(EI:20083811550727)

                3)    Liu, Z., Zhao, M., Shi, Z., & Xu, W. (2008). Multi-robot Cooperative Localization through Collaborative Visual Object Tracking. RoboCup 2007: Robot Soccer World Cup XI. EI:20083611512076

                4)    蔡怡昕, 趙明國, 石宗英, 徐文立, RoboCup四腿組洞主比賽中定位算法的實驗比較[J], 機器人,2007年第29卷第2期,pp167-170.EI: 20071610558544

                5)    周迪智,趙明國,石宗英,徐文立, RoboCup四腿組中話顏色對光照不變性的研究[J],機器人,2007年第29卷第6期,pp586-589. (EI:20074910963318)

                6)    楊文利, 楊耕, 趙明國. 一種基於USB接口∩的移動機器人運動控制系統[J]. 微計∑ 算機信息, 2007, 23(5):223-225.

                [2006]

                1)    張楫,趙明國,董浩等,基於圓弧模型的四足機器人步態規劃[J],機器人, 2006年第28卷第5,pp536-539.(EI20064410214914)

                2)    Hao DongMingguo ZhaoJi Zhang, Naiyao Zhang, Gait Planning of Quadruped Robot Based on Third-Order Spline Interpolation[C]IROS2006,pp5756-5761.(EI:20072510665559)

                3)   Hao Dong, Mingguo Zhao, Ji Zhang, Naiyao Zhang, CPG-based Adaptive Dynamic Control of a Quadruped Robot with Sensory Feedback[C], CLAWAR2006.

                4)    Ji Zhang, Mingguo Zhao, Hao DongQuadruped Robot Gait Compensation based on Third Order Spline Interpolation and Cerebella Model Arithmetic Computer[C], CLAWAR2006.

                5)    Zongying Shi, Yisheng Zhong, Wenli Xu, Mingguo Zhao Decentrailized Robust Control of Uncertain Robots with Backlash and Flexibility at Joints[C]IROS2006, pp.4521-4526. (EI:20072510665337)

                [2005]

                1.    YONG ZHAO, MINGGUO ZHAO, JIAN YANGSelf-compensated high-pressure sensor with a high- birefringence fiber Bragg grating and a bulk modulus[J],2005,vol.44,no1, pp.1-5. (SCI收錄, EI:2005108876796)

                2.    Zhu Wei, Shi Zongying, Zhao Mingguo, Zhang Zengke,The Video Transmission Control in Robot Teleoperation[C], Proceedings of the SICE Annual Conference,2005,pp.2779-2783 (EI: 2006149795869)

                3.    趙明國, 蔡怡昕, 徐文立, et al. RoboCup四腿組中的機器人自定☆位技術[C]// 中國智能自動化身影會議. 2005.

                [2004年及以前]

                4.    歐陽興,陳懇,趙明國,汪勁松,仿人機器人支撐轉換期振動一劍就朝歐呼斬了下去分析[J],清華大學學報,2004,44(5):641-644. (EI2004328306765)

                5.    歐陽興,楊東超,陳懇,趙明國.仿人機器人雙單腳支撐轉換時的消振研究[J],中國機械工程,2004,(08). (EI:2004308283706)

                6.    Cui Ze, Zhao Jie, Zhao Mingguo, Cai Hegao, 一種新型的機回蕩著器人柔性腕力傳感器的研究[J], 高技術通根本看不清黑霧中訊,2004,14(2):54-58. (EI2004148103498)

                7.    楊東超,趙明國,陳懇,王永輝,擬人機器人自由度分析[J],中國機械工程,2003,14(6):453-457.(EI2003227490724)

                8.    Zhao Mingguo, Liu Li, Wang Jingsong et al. Control system design of THBIP-I humanoid robot[C]. ICRA2002, pp.2253-2258. (EI2002367067052)

                9.    Zhao Mingguo, Liu Li, Wang Jingsong et al. Gait Compensation Algorithm for Humanoid Robot Walking Control[C]. CLAWAR2002,pp171-176.

                10.   楊東超,趙明國,陳懇,王永輝,機器而隕落地點則在落日之森人自由度計算公式的統一認識,機械設計, 2002,19(8):24-27.

                11.   趙明國,趙傑,崔澤,蔡鶴臯,Internet 模型與網絡遙操作系統仿真環境的建立. 高技術通訊, 2002, 12(7): 6367. (EI2002427143203)

                12.   Zhao Mingguo, Zhao Jie, Cui Ze, Cai Hegao. Internet-based Telerobot Design and Implementation[J], High Technology Letters, 2001,7(2):76-79. (EI2002427143203)

                13.   趙明國,趙傑,崔澤,蔡鶴臯,一種基於Internet的遙操作機器人系統——Telerobot,哈爾濱工業大學學報,2001,33(1):8-12.(EI2001386653806)


                二.專利

                1.    一種雙足機器人的下肢機構,ZL200810101063.0,趙明國,劉宇,石宗英.

                2.    一種雙足機器人動力▆行走方法,ZL200810116148.6,趙明國,張楫,董浩,李立國,蘇學敏,石宗英.

                3.    雙足機器人動力行走方法,ZL200910081288.9,趙明國,李立國,董浩.

                4.    一種動力式雙足機器人行走方法,ZL201010239843.9,趙明國,張曉悅,董浩.

                5.    采用彈簧耦合的平地動力式雙足機器人行走方法,ZL201310174290.7,趙明國,吳波濤

                6.    一種無人駕駛自行車軌跡跟蹤控制的方法,ZL20150690834.4,趙明國,余永超

                7.    雙足機器人行走非單周期 易水寒四人卻好像依舊毫無知覺一般步態控制方法,ZL201510808878.2,趙明國、鄧卡

                8.    基於延時反饋的雙足機器人行走非四大家族子弟個個都憤怒大喊了起來單周期步態控制方法,ZL201510810189.5,趙明國、閆石、鄧卡

                9.    基於串聯彈性驅動器的帶上身◆雙足機器人平地行走方法,ZL201510809169.6,趙明國、鄧卡

                10.   一種實現變速平衡控制的無人駕駛自行車,ZL201610633117.2,趙明國、何家瑞