程红太（副教授）
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- 博士生导师 硕士生导师
- 电子邮箱：
- 所在单位：Northeastern University
- 学历：博士研究生毕业
- 性别：男
- 学位：博士
- 在职信息：在职
- 毕业院校：哈尔滨工业大学
- 所属院系：机械工程与自动化学院
- 学科：
机械电子工程
- 办公室电话：
- 邮箱：
研究领域
研究领域与方向：
1.工业机器人，智能机器人与仿人机器人
2.自主移动工业机器人
3.制造自动化
4.传感器信息融合，图像处理及其工业应用
5.智能机器人运动系统建模与控制
6.欠驱动系统建模与非线性控制
a) 欠驱动机械系统建模与控制
b) 欠驱动电力电子系统建模与控制
7.嵌入式控制系统设计与应用
8.工业控制网络与无线测控技术
近期研究内容：
智能驱动与仿生技术
人体颈关节结构
仿生颈关节
多功能上肢助力外骨骼
上肢助力外骨骼实物样机
仿生机器人
灵长类仿生机器人
ABB IRB1200机器人
Delta机器人
智能机器人系统
移动工业机械臂
1.环境感知与自主导航与定位
2.移动平台与机械臂协调控制
3.自主物体操作
4.路径规划与跟踪控制
5.远程遥操作与人机交互
6.多步态行走
7.避障，越障
......
远程遥操作机器人系统
1.远程通讯
2.移动机械臂控制
3.人机交互
4.虚拟现实技术
......
环境感知，三维重构与移动机器人自主定位
1.SLAM
2.图像理解
3.地标识别
4.地图生成
5.自主定位与导航
......
复杂过程控制系统建模与参数优化
多机器人协作
机器人示教学习
欠驱动机械系统
嵌入式系统，工业控制网络及远程监测系统
论文成果
- 34.Binbin Li, Hongtai Cheng, Heping Chen and Tongdan Jin, Modeling Complex Robotic Assembly Process Using Gaussian Process Regression, 2014 IEEE Conference on Industrial Electronics and Applications,(Under Review).
- 33.Hongtai Cheng and Heping Chen. Learning from Demonstration Enabled Robotic Small Part Assembly, 2014 IEEE Conference on Industrial Electronics and Applications,(Under Review).
- 32.Hongtai Cheng and Heping Chen. Robot Learning Based on Partial Observable Markov Decision Process in Unstructured Environment, 2014 IEEE International Conference on Robotics and Automation,(Under Review).
- 31.Hongtai Cheng and Heping Chen. Online Parameter Optimization in Robotic Force Controlled Assembly Processes, 2014 IEEE International Conference on Robotics and Automation,(Under Review).
- 30.Yini Zhao, Hongtai Cheng, Di Zhao, Xiaohua Zhang. Energy based nonlinear control of underactuated brachiation robot. 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008. Beijing, 2008: 516-521.(EI: 20090911933738).
- 29.Yini Zhao, Hongtai Cheng, Xiaohua Zhang. Swing Control for Two-Link Brachiation Robot Based on SMC. 2008 Chinese Control and Decision Conference (CCDC 2008), 2008:1704-1708.(EI: 084011622634).
- 28.Xiaohua Zhang, Hongtai Cheng, Yini Zhao and Bingtuan Gao. The Dynamical Servo Control Problem for the Acrobot Based on Virtual Constraints Approach. The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2009, St. Louis, USA, 1320-1325.(EI: 20100712704442).
- 27.Hongtai Cheng, Heping Chen, Yong Liu. Human-Like Indoor Navigation for Autonomous Industrial Mobile Manipulator, 2012 International conference on Information and Automation (ICIA) , pp.162-167, June 6-8 2012.(EI: 20123915478345).
- 26.Hongtai Cheng, Heping Chen, Ben Mooring and Harold Stern. Error Modeling and Analysis in Dynamic Wafer Handling. 2012 World Congress on Intelligent Control and Automation (WCICA), July 6 to 8, 2012.(EI: 20130415919704).
- 25.Hongtai Cheng, Heping Chen, Xiaohua Zhang, Hongjun Chen. Dynamic Servo Control for Underactuated Mechanical Systems, ASME 2012 International Mechanical Engineering Congress & Exposition(IMECE), November 8-15 2012, 315-320, (EI: 20134616978243).
- 24.Hongtai Cheng, Heping Chen, Xiaohua Zhang, Bingtuan Gao and Hongjun Chen. Periodic Trajectory Generation and Tracking Control for a Class of Underactuated Mechanical Systems. 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO), December 11-14, 2012, 1817-1822, (EI: 20131716244071).
- 23.Hongtai Cheng, Heping Chen, Yong Liu. Topological indoor Localization & Navigation for Autonomous Industrial Mobile Manipulator, 11th International Conference on Machine Learning and Applications ICMLA 2012. December 12-15, Boca Raton, Florida, USA.(EI: 20130716027463).
- 22.Hongtai Cheng, Heping Chen, Yong Liu. Object Handling Using Autonomous Industrial Mobile Manipulator. 2013 IEEE International Conference on CYBER Technology in Automation, Control and Intelligent Systems, May 26-29, 2013(Accepted).
- 21.Hongtai Cheng, Heping Chen, Yong Liu. POMDP based Robot Teaching for High Precision Assembly in Manufacturing Automation. 2013 IEEE International Conference on CYBER Technology in Automation, Control and Intelligent Systems, May 26-29, 2013(Accepted).
- 20.Hongtai Cheng, Heping Chen, Xiaohua Zhang, Bingtuan Gao and Hongjun Chen. General Swing-up Methodology for the Vertical Three-link Underactuated Manipulator. 2013 IEEE International Conference on CYBER Technology in Automation, Control and Intelligent Systems, May 26-29, 2013(Accepted).
- 19.Heping Chen, Hongtai Cheng, B. Mooring and H. Stern, Wafer Eccentricity Estimation with Disturbance Caused by Alignment Notch. 2013 IEEE International Conference on CYBER Technology in Automation, Control and Intelligent Systems, May 26-29, 2013(Accepted).
- 18.Heping Chen, Hongtai Cheng, Biao Zhang, Tom Fuhlbrigge and Jian Liu, Semiautonomous Industrial Mobile Manipulation for Industrial Applications. 2013 IEEE International Conference on CYBER Technology in Automation, Control and Intelligent Systems, May 26-29, 2013(Accepted).
- 17.Heping Chen, Hongtai Cheng, Jian Liu, Biao Zhang, George Zhang and Tom Fuhlbrigge, Performance Improvement for High Accuracy Assembly Process in Manufacturing Automation. The 9th annual IEEE International Conference on Automation Science and Engineering, CASE 2013., Madison, WI, 540-545. (EI).
- 16.Hongtai Cheng and Heping Chen. Human-like Robot Teaching for High Precision Assembly in Manufacturing Automation. 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), December 12-14, 2013, Guangzhou, China (Accepted).
- 15.Hongtai Cheng, Heping Chen and Xiaohua Zhang. Constraint Periodic Trajectory Generation and Lyapunov based Tracking Control of Underactuated Mechanical Systems. IEEE Transactions on Control Systems Technology (Under Review).
- 14.张晓华, 赵旖旎, 程红太. 灵长类仿生机器人悬臂飞跃运动控制研究, 信息与控制, 2010,39(6): 794-800.
- 13.张晓华, 赵旖旎, 程红太, 灵长类仿生机器人悬臂运动仿生控制综述. 控制工程, 2011, 18 (2): 161-165.
- 12.赵旖旎, 程红太, 张晓华. 基于动态伺服的欠驱动双摆机器人仿生悬摆控制, 机器人, 2009, 31(4): 289-295(EI: 20093212240996).
- 11.赵旖旎, 程红太, 张晓华. 基于能量的欠驱动双臂机器人悬摆动态伺服控制, 西南交通大学学报, 2009, 44(3): 380-384(EI: 20092912201789).
- 10.程红太, 刘东, 张晓华. 行为受限下Acrobot起摆平衡控制研究. 控制工程, 2012, 19 (2): 265-269.
- 9. Xiaohua Zhang, Hongtai Cheng, Yini Zhao. 基于能量的Acrobot动态伺服控制.控制与决策. 控制与决策，2008，23 (11): 1258-1262. (EI: 20085111797511).
- 8. 程红太, 赵旖旎, 张晓华. Acrobot动态伺服控制及其对称虚约束方法研究. 自动化学报, 2010, 36(11): 1594-1600. (EI: 20105013489740).
- 7. 程红太, 张晓华. 一类欠驱动机械系统的虚约束动态伺服控制. 浙江大学学报(工学版), 2011，45 (5): 818-824. (EI: 20112714115932).
- 6. 程红太, 张晓华. 基于虚约束的Acrobot动态伺服控制统一设计方法. 控制与决策, 2012, 27 (6): 923-928.(EI: 20123415365437).
- 5. Heping Chen, Hongtai Cheng, Ben Moorings, Harold Stern. Improving Wafer Handling Performance in Semiconductor Manufacturing, Industrial Robots: an International Journal, 40(5), 425 – 432, 2013 doi: 10.1108/IR-09-2012-414 (IF=0.603, 000325040100003).
- 4. Heping Chen, Hongtai Cheng, Ben Moorings, Harold Stern. Eccentricity estimation with error modeling in dynamic wafer handling. The International Journal of Advanced Manufacturing Technology, 68(1-4), 425-233, March 2013 doi: 10.1007/s00170-013-4740-4 (IF=1.103, 000323105600035).
- 3. Hongtai Cheng; Heping Chen; Ben Mooring., "Accuracy Analysis of Dynamic-Wafer-Handling Robotic System in Semiconductor Manufacturing," Industrial Electronics, IEEE Transactions on , 61(3), 1402-1410, March 2014 doi: 10.1109/TIE.2013.2261034 (IF=5.16).
- 2. Hongtai Cheng, Heping Chen, Yong Liu, Topological indoor Localization and Navigation for Autonomous Mobile Robot, IEEE Transactions on Automation Science and Engineering, (Accepted, IF=1.674).
- 1. Hongtai Cheng, Heping Chen, “Adult” Robot Enabled Learning Process in High Precision Assembly Automation, Journal of Manufacturing Science and Engineering, (Accepted, IF=0.786).
专利
- 暂无内容
著作成果
- 暂无内容
科研项目
- 1)煤矿井下作业场景复杂环境三维建模与重构方法, 2022-KF-13-07辽宁省科技厅, 科技厅自然科学基金，联合基金项目, 2022-09 至 2024-08
- 2)2023JX04H018，航空工业304，2023-10至2025-10
- 3)三维拟实装配软件开发，2024020900018，四川中物技术股份有限公司, 2024-03 至2024-6
- 4)2023GFYD08,教育部项目基本科研业务费, 2023-01 至 2024-12
- 5)智能电缸控制系统开发，2023020900091，东莞九骏, 2023-12 至2024-06
- 6)真空机器人控制算法技术合作项目，2022020900043，华为技术有限公司, 2022-07 至2023-09
- 7)辽宁省首批“揭榜挂帅”科技攻关项目，掘进机器人自主运动规划与控制技术, 2021/01-2023/06
- 8)拟实装配数学建模软件包开发，2022020900042，四川中物技术股份有限公司, 2022-09 至2022-12
- 9)掘进机器人自主运动规划与控制技术, 1609378360110，辽宁省科技厅, 揭榜挂帅项目, 2021-05 至2022-12
- 10)CSJXS控制算法技术合作项目, 2021020900042，华为技术有限公司, 2021-07 至 2022-08
- 11)2021JX04H015，内蒙动力机械研究所，2021-05至2021-09
- 12)基于几何约束的装配技能演示学习方法研究,教育部项目基本科研业务费, 青年教师科研创新项目, N2003003, 2020-01 至 2021-12
- 13)共融机器人行为知识鲁棒耦合技术研究，辽宁省自然科学基金联合基金项目，2018010097-301、2018/09-2020/08
- 14)PAM上肢外骨骼系统及控制研究，北京理工大学智能机器人与系统高精尖创新中心，开放实验室基金，2016IRS01， 2017/01-2018/12
- 15)NEU 第一代陪护式家用机器人，教育部项目基本科研业务费，项目重大科技创新项目，N150308001， 2016/01-2019/12
- 16)网络环境下的单兵协同外骨骼系统及柔性器件应用，TS项目，6141A0202260502， 2016/01-2017/12
- 17)弹性支撑条件下的灵长类仿生机器人悬臂运动控制方法研究，61503067，国家自然科学基金青年项目，2016-01至2018-12
- 18)灵长类仿生机器人飞跃运动仿生与控制策略研究，教育部基本科研业务费，国家项目培育种子基金，N140304009、2015/01-2017/12
- 19)智能蜘蛛手机器人流水线高速分拣系统开发，2014-0-1-03120，核工业烟台同兴，2014-04至2014-12