千赢国/qy88千嬴国际官网-手机版

师资队伍
教师队伍
赵明国

研究员

导航与控制研究所

机器人控制实验室主任

无人系统中心类脑机器人交叉中心主任

电话: 010-62794322 Fax:010-62786911
地点:北京千赢国系


教育背景


1991年9月-1995年7月 哈尔滨工业大学精密仪器系机械电子工程专业学习,获工学学士学位

1995年9月-1997年12月 哈尔滨工业大学航天工程与力学系空间飞行器设计专业学习,获工学硕士学位

1998年3月-2001年3月 哈尔滨工业大学机器人研究所机械电子工程专业学习,获工学博士学位



工作履历


2001年5月-2003年4月 清华大学精密仪器与机械学系 博士后

2003年4月-2004年12月 千赢国系 助研

2004年12月-2019年 千赢国系 副研究员

2019年-至今 千赢国系 研究员


学术兼职


IEEE会员

RoboCup中国委员会委员

自动化学会机器人竞赛工作委员会委员

自动化学会智能自动化专业委员会委员

人工智能学会智能机器人专业委员会委员


研究领域


融合类脑芯片类脑计算构建人工通用智能研究平台

基于类脑计算的机器人控制


研究概况


[1]双足机器人动力行走新方法-虚拟斜坡法的研究 国家自然科学基金资助项目(60875065) 2009年1月至2011年12月

[2]地图匹配定位精度的改进研究 国际合作 2008年8月至今

[3]基于虚拟斜坡方法的双足机器人动力行走控制研究 • 机器人技术与系统国家重点实验室开放基金资助项目(SKLRS200718) 2008年1月至今

[4]被步行机器人的建模与控制 工业控制技术国家重点实验室开放基金资助项目(0708003) 2007年1月至今

[5]助老/助残机器人概念样机研究与开发 国家“八六三”高技术项目(2006AA040203) 2006年9月至今


奖励与荣誉


2017 日内瓦国际发明展览会银奖

2017 Excellence in Engineering Education Award(美国国家仪器)

2015 教育部自然科学二等奖

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

2014 国家级教学成果奖二等奖(排名3

2013 北京市高等教育教学成果奖一等奖(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 清华大学教学成果奖一等奖(排名1

2011 中国电子学会电子信息科学技术二等奖


学术成果



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日发表。

[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 收录, 检索号:EI7KJ, 影响因子: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 收录, 检索号:EM2SU, 影响因子:0.547.)

3.    Stasinopoulos S, Zhao M, Zhong Y. Simultaneous localization and mapping for autonomous bicycles[J]. 2017,14(3):172988141770717. (SCI收录,影响因子: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,赵明国,自主驾驶自行车的改进路径跟踪算法,华中科技大学学报(自然科学版),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]// 中国智能自动化学术会议. 2015:205-214.EI20154101356004

4.    Stasinopoulos S, Zhao M. Laser-Based Obstacle Avoidance and Road Quality Detection for Autonomous Bicycles[C]// 中国智能自动化学术会议. 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.    赵明国,裘有斌,陈向,李嘉, “单足气动跳跃机器人的基于时间事件控制方法, 机器人, 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.    赵明国,董浩,张乃尧,双足机器人虚拟斜坡行走的抗扰能力研究[J],机器人,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.    苏学敏, 赵明国, 张楫, 董浩, 被动行走周期性步态不动点搜索的新算法,清华大学学报(自然科学版)200908, 1109-1112. (EI: 20093612289691)

8.    李立国, 赵明国, 张乃尧, 平面双足机器人虚拟斜坡行走步态生成算法研究,机器人, 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, 赵明国, 石宗英, 徐文立,基于负信息的改进多假设定位算法[J],清华大学学报(自然科学版)200804, pp495-497.(EI: 20082811370609)

5)    刘志斌,石宗英,赵明国,徐文立,基于环境势场的移动机器人主动定位[J],控制与决策,2008年第2期,pp187-190. (EI:20081311170207)

6)    刘森,慕春棣,赵明国,基于ARM嵌入式系统的拟人机器人控制器的设计[J],清华大学学报(自然科学版)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, 赵明国, 石宗英, 徐文立, RoboCup四腿组比赛中定位算法的实验比较[J], 机器人,2007年第29卷第2期,pp167-170.EI: 20071610558544

5)    周迪智,赵明国,石宗英,徐文立, RoboCup四腿组中颜色对光照不变性的研究[J],机器人,2007年第29卷第6期,pp586-589. (EI:20074910963318)

6)    杨文利, 杨耕, 赵明国. 一种基于USB接口的移动机器人运动控制系统[J]. 微计算机信息, 2007, 23(5):223-225.

[2006]

1)    张楫,赵明国,董浩等,基于圆弧模型的四足机器人步态规划[J],机器人, 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收录, 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.    赵明国, 蔡怡昕, 徐文立, et al. RoboCup四腿组中的机器人自定位技术[C]// 中国智能自动化会议. 2005.

[2004年及以前]

4.    欧阳兴,陈恳,赵明国,汪劲松,仿人机器人支撑转换期振动分析[J],清华大学学报,2004,44(5):641-644. (EI2004328306765)

5.    欧阳兴,杨东超,陈恳,赵明国.仿人机器人双单脚支撑转换时的消振研究[J],中国机械工程,2004,(08). (EI:2004308283706)

6.    Cui Ze, Zhao Jie, Zhao Mingguo, Cai Hegao, 一种新型的机器人柔性腕力传感器的研究[J], 高技术通讯,2004,14(2):54-58. (EI2004148103498)

7.    杨东超,赵明国,陈恳,王永辉,拟人机器人自由度分析[J],中国机械工程,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.   杨东超,赵明国,陈恳,王永辉,机器人自由度计算公式的统一认识,机械设计, 2002,19(8):24-27.

11.   赵明国,赵杰,崔泽,蔡鹤皋,Internet 模型与网络遥操作系统仿真环境的建立. 高技术通讯, 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.   赵明国,赵杰,崔泽,蔡鹤皋,一种基于Internet的遥操作机器人系统——Telerobot,哈尔滨工业大学学报,2001,33(1):8-12.(EI2001386653806)


二.专利

1.    一种双足机器人的下肢机构,ZL200810101063.0,赵明国,刘宇,石宗英.

2.    一种双足机器人动力行走方法,ZL200810116148.6,赵明国,张楫,董浩,李立国,苏学敏,石宗英.

3.    双足机器人动力行走方法,ZL200910081288.9,赵明国,李立国,董浩.

4.    一种动力式双足机器人行走方法,ZL201010239843.9,赵明国,张晓悦,董浩.

5.    采用弹簧耦合的平地动力式双足机器人行走方法,ZL201310174290.7,赵明国,吴波涛

6.    一种无人驾驶自行车轨迹跟踪控制的方法,ZL20150690834.4,赵明国,余永超

7.    双足机器人行走非单周期步态控制方法,ZL201510808878.2,赵明国、邓卡

8.    基于延时反馈的双足机器人行走非单周期步态控制方法,ZL201510810189.5,赵明国、闫石、邓卡

9.    基于串联弹性驱动器的带上身双足机器人平地行走方法,ZL201510809169.6,赵明国、邓卡

10.   一种实现变速平衡控制的无人驾驶自行车,ZL201610633117.2,赵明国、何家瑞


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