李长乐科研成果

基本信息 科学研究 招生信息 新建主栏目 基本信息 名称 李长乐，男，哈尔滨工业大学机器人研究所博士, 副研究员，博士生导师,中国机电一体化技术应用协会理事；主要从事人机协作机器人、模块化机器人、医疗机器人、机器视觉、载人航天测试系列装备等研究；作为负责人主持承担了国家级项目10余项，包括国家自然科学基金、国家863计划、国家科技重大专项、国家核聚变能研究发展专项、载人航天重大工程项目等。获黑龙江省技术发明一等奖1项，黑龙江省科技进步二等奖1项。发表SCI/EI检索论文30余篇，发明专利70余项。 工作经历 标题 工作单位 哈尔滨工业大学 职位/职称 机电工程学院，博士生导师 起讫时间 2022/05-至今 简单介绍 标题 工作单位 哈尔滨工业大学 职位/职称 机电工程学院，副研究员 起讫时间 2018/01-至今 简单介绍 标题 工作单位 哈尔滨工业大学 职位/职称 机电工程学院，讲师 起讫时间 2010/05-2017/12 简单介绍 荣誉称号 称号名称 中国机械工业科技进步特等奖 获奖时间 获奖地点 简单介绍 隧道施工智能化作业机群自主研制及产业化应用 称号名称 黑龙江省科学技术发明奖，二等奖 获奖时间 获奖地点 简单介绍 多机器人遥操作关键技术及其在核电环境的应用 称号名称 黑龙江省科学技术发明奖，一等奖 获奖时间 获奖地点 简单介绍 多节履带式煤矿井下搜索机器人关键技术研究 主持科研项目 项目名称 高性能灵巧作业机器人研制及行业应用示范 项目来源 开始时间 结束时间 项目经费 担任角色 负责 项目类别 纵向项目 项目状态 完成 简单介绍 项目名称 面向3C产业的柔性部件装配机器人设计与控制关键技术研究 项目来源 国家自然科学基金项目 开始时间 结束时间 项目经费 担任角色 负责 项目类别 纵向项目 项目状态 完成 简单介绍 项目名称 近距离放疗微创机器人关键技术研究与装备研制 项目来源 国家重点研发计划 开始时间 结束时间 项目经费 担任角色 负责 项目类别 纵向项目 项目状态 完成 简单介绍 项目名称 基于柔性可穿戴传感的自然人机交互机制与协同控制策略研究 项目来源 国家自然科学基金项目 开始时间 结束时间 项目经费 担任角色 负责 项目类别 纵向项目 项目状态 进行中 简单介绍 学术论文 名称 l Li, C., Zhang, L., Zhang, X., Liu, G. and Zhao, J., 2023. A compliant actuator for steering the needle within tissue with feedback of FBG-based shape sensing. Sensors and Actuators A: Physical, 356, p.114340. l Xu, C., Liu, G., Li, C., Zhu, Y. and Zhao, J., 2023. Dynamic modeling and identification of low impact docking mechanism based on symmetric excitation trajectory. Nonlinear Dynamics, pp.1-19. l Li, C., Yao, C., Xu, S., Zhang, L., Fan, Y. and Zhao, J., 2023. An image-based visual servo system to operate a flexible wire. Robotic Intelligence and Automation, 43(1), pp.3-11. l Zhang, Q., Li, C., Jing, H., Li, H., Li, X., Ju, H., Tang, Y., Zhao, J. and Zhu, Y., 2022. Rtsras: a series-parallel-reconfigurable tendon-driven supernumerary robotic arms. IEEE Robotics and Automation Letters, 7(3), pp.7407-7414. l Zhang, L., Li, C., Dong, H., Liu, X., Sun, T., Grattan, K.T. and Zhao, J., 2023. Fiber Bragg Grating-based sensor system for sensing the shape of flexible needles. Measurement, 206, p.112251. l X. Tong, X. Zhang, G. Liu, C. Li and J. Zhao, "Research on Surface Defect Detection Technology of Long-Distance and Long-Span FAST Cable," 2023 9th International Conference on Mechatronics and Robotics Engineering (ICMRE), Shenzhen, China, 2023, pp. 225-228. l X. Sun, G. Liu, X. Zhang, C. Li and J. Zhao, "A Positioning Method Based on Kalman Filter for FAST Feed Support Cable Inspection Robot," 2023 9th International Conference on Mechatronics and Robotics Engineering (ICMRE), Shenzhen, China, 2023, pp. 65-71. l C. Li, C. Zhang, C. Y. Yu, L. Zhang, G. Liu and J. Zhao, "A novel design of force-feedback master manipulator for remote ultrasound scanning," 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO), Jinghong, China, 2022, pp. 2317-2321. l Q. Zhang et al., "RTSRAs: A Series-Parallel-Reconfigurable Tendon-Driven Supernumerary Robotic Arms," in IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 7407-7414, July 2022. l C. Song, G. Liu, C. Li and J. Zhao, "Reactive Task Adaptation of a Dynamic System With External Disturbances Based on Invariance Control and Movement Primitives," in IEEE Transactions on Cognitive and Developmental Systems, vol. 14, no. 3, pp. 1082-1091, Sept. 2022. l Y. Hua, Y. Zhu, C. Li, J. Zhao and Y. Zhu, "Assistance Control of Human-Exoskeleton Integrated System for Balance Recovery Augmentation in Sagittal Plane," in IEEE Transactions on Industrial Electronics, vol. 69, no. 1, pp. 528-538, Jan. 2022. l C. Li et al., "Adaptive Step Puncture Strategy Based on Online Identification of Tissue Shore Hardness," 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO), Sanya, China, 2021, pp. 149-153. l L. Zhang et al., "A New Method For Fiber Bragg Grating Based Needle Shape Sensing Calibration," 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dali, China, 2019, pp. 1953-1958. l G. Ban et al., "Design of A Close-range Radiotherapy Particle Implantation Device," 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dali, China, 2019, pp. 1331-1337. l G. Zhang et al., "An Adaptable Robotic System for Assembling Irregular Earphone Parts on Factory Automation," 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dali, China, 2019, pp. 52-58. l G. Liu, H. Mo, C. Li, G. Li and L. Li, "Design of A Negative Pressure Adsorption Pipeline Robot for Omni-directional Mobility," 2019 IEEE International Conference on Mechatronics and Automation (ICMA), Tianjin, China, 2019, pp. 1448-1452. l C. Yang, C. Li, F. Xia, Y. Zhu, J. Zhao and K. Youcef-Toumi, "Charge Controller With Decoupled and Self-Compensating Configurations for Linear Operation of Piezoelectric Actuators in a Wide Bandwidth," in IEEE Transactions on Industrial Electronics, vol. 66, no. 7, pp. 5392-5402, July 2019. l C. Yang, C. Li and J. Zhao, "A Nonlinear Charge Controller With Tunable Precision for Highly Linear Operation of Piezoelectric Stack Actuators," in IEEE Transactions on Industrial Electronics, vol. 64, no. 11, pp. 8618-8625, Nov. 2017. l G. Liu, Z. Xie, G. Li, C. Li, J. Zhao and L. Li, "Optimization of the impedance controller for the low impact docking," 2016 IEEE International Conference on Information and Automation (ICIA), Ningbo, China, 2016, pp. 403-408. l C. Li, Y. Zhang, G. Liu and J. Yan, "Trajectory optimization of spraying manipulator for large hull section," 2016 IEEE International Conference on Information and Automation (ICIA), Ningbo, China, 2016, pp. 1438-1443. l Z. Meng, C. Li, G. Li, J. Zhao and J. Yan, "Research of positioning method for automatic spraying on large ship block surfaces," 2016 IEEE International Conference on Real-time Computing and Robotics (RCAR), Angkor Wat, Cambodia, 2016, pp. 431-436. l Z. Xie, G. Liu, C. Li, G. Li, J. Zhao and L. Li, "Research of the low impact space docking mechanism based on impedance control strategy," 2016 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), Auckland, New Zealand, 2016, pp. 1-6. l G. Liu, C. Li, G. Li, X. Yu and L. Li, "Automatic space calibration of a medical robot system," 2016 IEEE International Conference on Mechatronics and Automation, Harbin, China, 2016, pp. 465-470. l J. Zhao, Z. -w. Zhou, G. Li, C. -l. Li, H. Zhang and W. -b. Xu, "The apposite way path planning algorithm based on local message," 2012 IEEE International Conference on Mechatronics and Automation, Chengdu, China, 2012, pp. 1563-1568. l C. -l. Li, J. -z. Fan and J. Zhao, "Research on the Reconfigurable Image Processing System," 2008 Second International Symposium on Intelligent Information Technology Application, Shanghai, China, 2008, pp. 284-288. 研究方向 名称 柔性触觉传感研究； 机器人主从硬件平台与控制方法研究； 机器人穿刺技术研究； 可操纵柔性针研究； 招生信息 名称 每年招生名额： 博士研究生1名。 硕士研究生1-2名。