2004―2009 香港城市大学 制造工程与工程管理系 博士
2001―2004 上海交通大学 电子信息与电气工程学院 自动化系 硕士
1997―2001 上海交通大学 动力与能源工程学院 学士

2017―至今 上海交通大学 机械与动力工程学院 　 副教授 博士生导师
2009―2016 上海交通大学 机械与动力工程学院 　 助理研究员

2011.07.12-08.26 香港城市大学 学术访问

并联机器人设计与控制
足式机器人设计与控制

欢迎对机器人有浓厚兴趣和志向的同学加入团队！
专业背景为机械、自动化、控制、计算机、软件、人工智能、数学等。

主持项目：
[1]. 国家重点研发计划课题，导盲六足机器人控制系统开发与示范应用，2021.08-2022.12
[2]. 国家自然科学基金面上项目，空间机械臂接触作业动力学过程半实物模拟的误差补偿与控制方法研究，2020.01-2023.12
[3]. 上海市自然科学基金，六轴并联微纳操作机器人多源不确定动态模型辨识与补偿技术，2019.7.1-2022.6.30
[4]. 国家自然科学基金面上项目，基于数据驱动的微操作机器人动态不确定性建模与补偿技术研究, 2015.1-2018.12
[5]. 装备预研航天科工联合基金, 空间机器人抓捕作业过程地面半物理模拟技术, 2017.01-2017.12
[6]. 国家自然科学基金青年基金，基于时空多模型的分布参数系统建模与空间状态重构, 2011.1-2013.12
[7]. 教育部博士点新教师基金，基于数据学习的纳米操作平台多源未建模动态综合补偿策略, 2011.1-2013.12
[8]. 上海市自然科学基金，远程探测与作业多足机器人容错性设计与故障步态关键技术研究, 2014.7-2017.6
[9]. 机械系统与振动国家重点实验室课题，空间碰撞半物理仿真与实验研究, 2015.1-2016.12
[10]. 机械系统与振动国家重点实验室课题，多足救援机器人控制关键技术研究, 2012.1-2013.12
参与项目：
[11]. 国家重点研发计划-政府间国际科技创新合作重点专项, 智能消防机器人研究创新计划, 2018.4-2021.3
[12]. 国家自然科学基金重点项目，着陆巡视一体化新型探测器复杂机构创新设计研究，2018-2022
[13]. 高档数控机床与基础制造装备科技重大专项: 运载火箭装配自动化与特种加工技术与装备, 2017.01-2019.12
[14]. 国家自然科学基金面上项目，CPS结构下分布式预测控制系统的设计与综合, 2017.01-2020.12
[15]. 国家重点基础研究发展计划（973计划）子课题，救灾机器人主从控制与自律协同, 2013.1-2017.8
[16]. 国家863计划主题项目，高性能四足仿生机器人机构驱动与控制关键技术研究, 2011.1-2012.9
[17]. 国家自然科学基金重点项目，新型大功率海上风力波浪一体化复合发电装备能量收集与传递原理, 2014.1-2018.12
[18]. 国家自然科学基金面上项目，空间分布系统空间混合神经模糊控制器设计与应用, 2013.01-2016.12
[19]. 国家自然科学基金面上项目，面向飞机制孔的爬行、定位一体化冗余驱动并联机器人关键技术研究, 2012.1-2015.12
[20]. 国家自然科学基金青年基金，行走机器人新型电机-液压复合驱动器性能评价与实验方法, 2014.1-2016.12
[21]. 国家自然科学基金青年基金，分布式系统预测控制的协调策略与系统综合, 2014.1-2016.12
[22]. 上海航天技术研究院项目，弱碰撞式xx机构综合试验台, 2013.1-2014.9

专著：
[1]. 高峰,曹睿,齐臣坤,任安业. (2016). 空间碰撞地面半实物模拟原理. 科学出版社.
[2]. Han-Xiong Li, & Chenkun Qi (2011). Spatio-temporal modeling of nonlinear distributed parameter systems - A time/space separation based approach. Springer.

期刊论文：
2023
[1]. Chenkun Qi, Huayang Li, Xianbao Chen, Zhijun Chen, Weijun Wang, Feng Gao. (2023). Mechanism design and workspace analysis of a hexapod robot with changeable morphology. Journal of Mechanical Design, 145(11): 113302.
[2]. Jinze Wu, Guiyang Xin, Chenkun Qi, Yufei Xue. (2023). Learning robust and agile legged locomotion using adversarial motion priors. IEEE Robotics and Automation Letters, 8(8), 4975-4982.
[3]. Chenkun Qi, Huayang Li, Feng Gao, Xianbao Chen, Yue Zhao, Zhijun Chen. (2023). Implementing the analytical reachable body workspace for calculating the obstacle-crossing ability of a hexapod robot. Journal of Mechanisms and Robotics, 15(6): 061017.
[4]. Chenkun Qi, Dongjin Li, Yan Hu, Yi Zheng, Weijun Wang, Xing Shou, Feng Gao. (2023). Learning-based distortion compensation for a hybrid simulator of space docking. IEEE Robotics and Automation Letters, 8(6): 3446-3453.
[5]. Chenkun Qi, Dongjin Li, Yan Hu, Feng Gao, Wenlong Wang, Wei Ma. (2023). Stability analysis and distortion compensation of robot structure dynamics for a hybrid simulator. Journal of Mechanical Design, 145(7): 073302.
[6]. Chenkun Qi, Jianfeng Lin, Xin Liu, Feng Gao, Yi Yue, Yan Hu, Baochen Wei. (2023). A modeling method for a 6-sps perpendicular parallel micro-manipulation robot considering the motion in multiple nonfunctional directions and nonlinear hysteresis. Journal of Mechanical Design, 145(5): 053301.
[7]. Jianfeng Lin, Chenkun Qi, Feng Gao, Yi Yue, Yan Hu, Baochen Wei. (2023). Modeling and verification for a three-degree-of-freedom flexure-based planar parallel micro manipulator. Journal of Mechanisms and Robotics, 15(4): 041006.
[8]. Zhijun Chen, Qingxing Xi, Feng Gao, Chenkun Qi, Yan Hu. (2023). Generation of Eight New Classes of the 2UPS-UP Mechanism with Analytical Forward Kinematics Solution. Mechanism and Machine Theory, 181, 105198.
2022
[9]. Chenkun Qi, Dongjin Li, Wei Ma, Qingqing Wei, Wenming Zhang, Wenlong Wang, Yan Hu, Feng Gao. (2022). Distributed delay compensation for a hybrid simulation system of space manipulator capture. IEEE/ASME Transactions on Mechatronics, 27(4): 2367-2378.
[10]. Huayang Li, Chenkun Qi, Feng Gao, Xianbao Chen, Yue Zhao, Zhijun Chen. (2022). Mechanism design and workspace analysis of a hexapod robot. Mechanism and Machine Theory, 174: 104917.
[11]. Ke Yin, Chenkun Qi, Yue Gao, Qiao Sun, Feng Gao. (2022). Landing control method of a lightweight four-legged landing and walking robot. Frontiers of Mechanical Engineering, 17(4): 51.
[12]. Jianfeng Lin, Chenkun Qi, Feng Gao, Yi Yue, Yan Hu, Yuze Wu. (2022). Integration modeling and control of a 12-DOF macro-micro dual parallel manipulator. Proceedings of the Institution of Mechanical Engineers, Part C - Journal of Mechanical Engineering Science, 236(11): 6064-6076.
[13]. Baochen Wei, Yi Yue, Xianchao Zhao, Yanbiao Li, Chenkun Qi. (2022). Design and experiment of a novel 4-dof vibration isolating system. International Journal of Robotics and Automation, 37(2): 182-191.
[14]. Feng Gao, Shuo Li, Yue Gao, Chenkun Qi, Qiyan Tian, Guang-Zhong Yang. (2022). Robots at the Beijing 2022 Winter Olympics, Science Robotics, 7(65), eabq0785.
[15]. Yi Zheng, Tongqiang Zhang, Shaoyuan Li, Chenkun Qi, Yueyan Zhang, Yanye Wang. (2022). Data-driven distributed model predictive control of continuous nonlinear systems with Gaussian process. Industrial and Engineering Chemistry Research, 61(49), 18187-18202.
2021
[16]. Chenkun Qi, Jianfeng Lin, Yuze Wu, Feng Gao. (2021). A wiener model identification for creep and vibration linear and hysteresis nonlinear dynamics of piezoelectric actuator. IEEE Sensors Journal, 21(24), 27570-27581.
[17]. Chenkun Qi, Wenlong Wang, Dongjin Li, Yan Hu, Feng Gao. (2021). Convergence Compensation for Space Contact Semiphysical Simulator Based on Mechanical Structure Dynamics. Journal of Aerospace Engineering, 34(5): 04021066.
[18]. Huayang Li, Chenkun Qi, Liheng Mao, Yue Zhao, Xianbao Chen, Feng Gao. (2021). Staircase-climbing capability-based dimension design of a hexapod robot. Mechanism and Machine Theory, 164, 104400.
[19]. Yan Hu, Feng Gao, Chenkun Qi, Xianchao Zhao, Qian Wang. (2021). A force and moment compensation method for a hardware-in-the-loop docking simulator based on the stiffness identification of the docking mechanism. Mechatronics, 76, 102513.
[20]. Yan Hu, Feng Gao, Xianchao Zhao, Tianhao Yang, Haoran Shen, Chenkun Qi, Rui Cao. (2021). A parameter dimension reduction-based estimation approach to enhance the kinematic accuracy of a parallel hardware-in-the-loop docking simulator. Robotica, 39(6), 959-974.
2019
[21]. Qian Wang, Chenkun Qi, Feng Gao, Xianchao Zhao, Anye Ren, Qiao Sun. (2019). Force based delay compensation for hardware-in-the-loop simulation divergence of 6-dof space contact. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 233(1): 151-165.
2018
[22]. Chenkun Qi, Feng Gao, Xianchao Zhao, Qian Wang, Qiao Sun. (2018). Distortion compensation for a robotic hardware-in-the-loop contact simulator. IEEE Transactions on Control Systems Technology, 26(4): 1170-1179.
[23]. Chenkun Qi, Anye Ren, Feng Gao, Xianchao Zhao, Qiao Sun. (2018). Hybrid smith predictor and phase lead based divergence compensation for hardware-in-the-loop contact simulation with measurement delay. Acta Astronautica, 147, 175-182.
[24]. Yue Zhao, Xun Chai, Feng Gao, Chenkun Qi. (2018). Obstacle avoidance and motion planning scheme for a hexapod robot Octupus-III. Robotics and Autonomous Systems, 103, 199-212.
[25]. Qian Wang, Chenkun Qi, Feng Gao, Xianchao Zhao, Anye Ren, Yan Hu. (2018). Normal contact stiffness identification based force compensation for a hardware-in-the-loop docking simulator. Advanced Robotics, 32(5), 266-282.
2017
[26]. Xun Chai, Feng Gao, Chenkun Qi, Yang Pan, Yilin Xu, Yue Zhao. (2017). Obstacle avoidance for a hexapod robot in unknown environment. Science China Technological Sciences, 60, 818-831.
[27]. Chenkun Qi, Xianchao Zhao, Feng Gao, Anye Ren, Yan Hu. (2017). Low-order model based divergence compensation for hardware-in-the-loop space contact simulation. Journal of Intelligent & Robotic Systems. 86(1), 81-93.
[28]. Chenkun Qi, Feng Gao, Xianchao Zhao, Anye Ren, Qian Wang. (2017). A force compensation approach towards divergence of hardware-in-the-loop contact simulation system for damped elastic contact. IEEE Transactions on Industrial Electronics, 64(4), 2933-2943.
[29]. Chenkun Qi, Anye Ren, Feng Gao, Xianchao Zhao, Qian Wang, Qiao Sun. (2017). Compensation of velocity divergence caused by dynamic response for hardware-in-the-loop docking simulator. IEEE/ASME Transactions on Mechatronics, 22(1), 422-432.
[30]. Anye Ren, Chenkun Qi, Feng Gao, Xianchao Zhao, Qiao Sun. (2017). Contact stiffness identification for hardware-in-the-loop contact simulator with delay and structural compensation. Journal of Intelligent & Robotic Systems, 86(3), 325-333.
2016
[31]. Feng Gao, Chenkun Qi, Anye Ren, Xianchao Zhao, Rui Cao, Qiao Sun, Qian Wang, Yan Hu, Jun He, Zhenlin Jin, Renqiang Liu, Yong Zhang, Weizhong Guo, Zhenyu Hu, Ping Tang, Bo Ni, Qianfeng Jing, Weijun Wang, Peng Gao. (2016). Hardware-in-the-loop simulation for the contact dynamic process of flying objects in space. Science China Technological Science, 59(8), 1167-1175.
[32]. Chenkun Qi, Xianchao Zhao, Feng Gao, Anye Ren, Yan Hu. (2016). Divergence compensation for hardware-in-the-loop simulation of stiffness-varying discrete contact in space. Acta Astronautica, 128, 295-303.
[33]. Chenkun Qi, Feng Gao, Xianchao Zhao, Anye Ren, Qian Wang, Qiao Sun, Yan Hu, Li Qiao. (2016). Smith predictor based delay compensation for a hardware-in-the-loop docking simulator. Mechatronics, 36, 63-76.
[34]. Chenkun Qi, Xianchao Zhao, Feng Gao, Anye Ren, Qiao Sun. (2016). Contact stiffness and damping identification for hardware-in-the-loop contact simulator with measurement delay compensation. Acta Astronautica. 123, 171-180.
[35]. Chenkun Qi, Feng Gao, Han-Xiong Li, Xianchao Zhao, Liming Deng. (2016). A neural network based distributed parameter model identification approach for micro-cantilever. Proceedings of the Institution of Mechanical Engineers Part C - Journal of Mechanical Engineering Science, 230(20), 3663-3676.
[36]. Qiao Sun, Feng Gao, Chenkun Qi, Xianbao Chen. (2016). A simplified control method to achieve stable and robust quadrupedal quasi-passive walking with compliant legs. Journal of Bionics Engineering, 13(4), 585-599.
[37]. Yang Pan, Feng Gao, Chenkun Qi, Xun Chai. (2016). Human-tracking strategies for a six-legged rescue robot based on distance and view. Chinese Journal of Mechanical Engineering, 29(2), 219-230.
[38]. Xinghua Tian, Feng Gao, Chenkun Qi, Xianbao Chen, & Dan Zhang. (2016). External disturbance identification of a quadruped robot with parallel-serial leg structure. International Journal of Mechanics and Materials in Design. 12(1), 109-120.
[39]. Mengling Wang, Chenkun Qi, HuaichengYan, & Hongbo Shi. (2016). Hybrid neural network predictor for distributed parameter system based on nonlinear dimension reduction. Neurocomputing, 171, 1591-1597.
2015
[40]. Chenkun Qi, Feng Gao, Han-Xiong Li, Shaoyuan Li, Xianchao Zhao, & Yi Dong. (2015). An incremental Hammerstein-like modeling approach for the decoupled creep, vibration and hysteresis dynamics of piezoelectric actuator. Nonlinear Dynamics. 82, 2097-2118.
[41]. Xun Chai, Feng Gao, Yang Pan, Chenkun Qi and Yilin Xu. (2015). A novel identification methodology for the coordinate relationship between a 3d vision system and a legged robot. Sensors, 15(4), 9519-9546.
[42]. Xianbao Chen, Feng Gao, Chenkun Qi, & Xinghua Tian (2015). Gait planning for a quadruped robot with one fault actuator. Chinese Journal of Mechanical Engineering, 28(1), 11-19.
[43]. Xianbao Chen, Feng Gao, Chenkun Qi, Xinghua Tian, & Lin Wei. (2015). Kinematic analysis and motion planning of a quadruped robot with partially faulty actuators. Mechanism and Machine Theory, 94, 64-79.
[44]. Xinghua Tian, Feng Gao, Chenkun Qi, & Xianbao Chen (2015). Reaction forces identification of a quadruped robot with parallel-serial leg structure. Proceedings of the Institution of Mechanical Engineers Part C - Journal of Mechanical Engineering Science, 229(15), 2774-2787.
2014
[45]. Chenkun Qi, Han-Xiong Li, Shaoyuan Li, Xianchao Zhao, & Feng Gao (2014). A fuzzy-based spatio-temporal multi-modeling for nonlinear distributed parameter processes. Applied Soft Computing, 25, 309-321.
[46]. Taoran Liu, Feng Gao, Xianchao Zhao, & Chenkun Qi (2014). Static balancing of spatial six-degree-of-freedom decoupling parallel mechanism. Journal of Mechanical Science and Technology, 28(1), 191-199.
[47]. Taoran Liu, Feng Gao, Chenkun Qi, & Xianchao Zhao (2014). Partial dynamic balancing of a 6-DOF haptic device. Proceedings of the Institution of Mechanical Engineers, Part C, Journal of Mechanical Engineering Science, 228(14), 2632-2641.
[48]. Xianbao Chen, Feng Gao, Chenkun Qi, Xinghua Tian, & Jiaqi Zhang. (2014). Spring parameters design for the new hydraulic actuated quadruped robot. Journal of Mechanisms and Robotics, 6(2), 021003.
2012
[49]. Chenkun Qi, Han-Xiong Li, Shaoyuan Li, Xianchao Zhao, & Feng Gao (2012). Probabilistic PCA-based spatiotemporal multimodeling for nonlinear distributed parameter processes. Industrial & Engineering Chemistry Research, 51, 6811-6822.
[50]. Chenkun Qi, Han-Xiong Li, Shaoyuan Li, Xianchao Zhao, & Feng Gao (2012). Kernel-based spatiotemporal multimodeling for nonlinear distributed parameter industrial processes. Industrial & Engineering Chemistry Research, 51(40), 13205-13218.
2011
[51]. Chenkun Qi, Han-Xiong Li, Xianchao Zhao, Shaoyuan Li, & Feng Gao (2011). Hammerstein modeling with structure identification for multi-input multi-output nonlinear industrial processes. Industrial & Engineering Chemistry Research, 50(19), 11153-11169.
[52]. Chenkun Qi, Han-Xiong Li, Xianxia Zhang, Xianchao Zhao, Shaoyuan Li, & Feng Gao (2011). Time/space-separation-based SVM modeling for nonlinear distributed parameter processes. Industrial & Engineering Chemistry Research, 50 (1), 332-341.
2010
[53]. Han-Xiong Li, & Chenkun Qi (2010). Modeling of distributed parameter systems for applications - A synthesized review from time-space separation. Journal of Process Control, 20(8), 891-901.
[54]. Xianxia Zhang, Han-Xiong Li, & Chenkun Qi (2010). Spatially constrained fuzzy clustering based sensor placement for spatio-temporal fuzzy control system. IEEE Transactions on Fuzzy Systems, 18(5), 946-957.
2009
[55]. Han-Xiong Li, & Chenkun Qi (2009). Incremental modeling of nonlinear distributed parameter processes via spatio-temporal kernel series expansion. Industrial & Engineering Chemistry Research, 48(6), 3052-3058.
[56]. Han-Xiong Li, Chenkun Qi, & Yongguan Yu. (2009). A spatio-temporal Volterra modeling approach for a class of nonlinear distributed parameter processes. Journal of Process Control, 19(7), 1126-1142.
[57]. Chenkun Qi, & Han-Xiong Li (2009). A time/space separation based Hammerstein modeling approach for nonlinear distributed parameter processes. Computers & Chemical Engineering, 33(7), 1247-1260.
[58]. Chenkun Qi, & Han-Xiong Li (2009). Nonlinear dimension reduction based neural modeling for spatio-temporal processes. Chemical Engineering Science, 64(19), 4164-4170.
[59]. Chenkun Qi, Haitao Zhang, & Han-Xiong Li (2009). A multi-channel spatio-temporal Hammerstein modeling approach for nonlinear distributed parameter processes. Journal of Process Control, 19(1), 85-99.
2008
[60]. Chenkun Qi, & Han-Xiong Li (2008). A Karhunen-Loève decomposition based Wiener modeling approach for nonlinear distributed parameter processes. Industrial & Engineering Chemistry Research, 47(12), 4184-4192.
2007
[61]. Haitao Zhang, Chenkun Qi, Tao Zhou, & Han-Xiong Li (2007). Greatly enhancing the modeling accuracy for distributed parameter systems by nonlinear time/space separation. Physica A: Statistical Mechanics and its Applications, 376, 215-222.
2005
[62]. Min Xu, Shaoyuan Li, Chenkun Qi, & Wenjian Cai. (2005). Auto-tuning of PID controller parameters with supervised receding horizon optimization. ISA Transactions, 44(4), 491-500.

步行机器人机构学， 研究生课程，学时：48，学分：3，春季学期
系统模型、分析与控制， 本科生课程，学时：64，学分：4，春季学期

[1]. 高峰,金振林,田兴华,齐臣坤,王静. 各向同性混联腿构型四足步行机器人. 发明专利.授权日期：2013年8月28日
[2]. 高峰,金振林,田兴华,齐臣坤,赵现朝. 新型并联腿结构四足步行器. 发明专利.授权日期： 2013年5月22日
[3]. 高峰,田兴华,金振林,齐臣坤,赵现朝. 液压驱动空间混联腿结构四足机器人. 发明专利.授权日期：2013.04.17
[4]. 高峰,田兴华,金振林,齐臣坤,郭为忠. 十二自由度混联腿结构四足步行器. 发明专利.授权日期：2013.03.27
[5]. 高峰,田兴华,金振林,齐臣坤,郭为忠. 一种有膝关节并联腿结构四足仿生机器人. 发明专利.授权日期：2013.05.22
[6]. 高峰,金振林,曹睿,张勇,齐臣坤,赵现朝. 六自由度3-3正交型并联机器人. 发明专利. 授权日期：2016年5月25日
[7]. 齐臣坤,李东瑾,陈萌,贾骏恺,张文奇,鞠雪梅. 两足和四足可切换的变拓扑机器人. 发明专利. 授权公告日: 2022年10月14日.
[8]. 齐坤,陈萌,高峰,李东瑾,贾骏恺,张文奇,鞠雪梅. 轮腿变结构机器人. 发明专利. 授权公告日: 2022年03月01日.
[9]. 齐臣坤,高峰,李化洋,邢琰,贾骏恺,胡勇,陈先宝. 基于UPS的并联结构轮足移动机器人. 发明专利. 授权公告日: 2022年04月08日.
[10]. 齐臣坤,高峰,李化洋,邢琰,贾骏恺;陈先宝;胡勇. 基于UP及UPS的并联结构轮足移动机器人. 发明专利. 授权公告日: 2022年06月28日.

1. 学会会员：
Member of ASME
Senior Member of IEEE
Member of IEEE Robotics and Automation Society
Senior Member of Chinese Mechanical Engineering Society
Senior Member of Chinese Association of Automation

2. 会议组织：
Program Committee. The 18th International Conference on Intelligent Autonomous System (IAS-18), Suwon, Korea, July 4-7, 2023.
Program Committee. The 17th International Conference on Intelligent Autonomous System (IAS-17), Zagreb, Croatia, June 13-16, 2022.
Program Committee. The 16th International Conference on Intelligent Autonomous System (IAS-16), Singapore, June 22-25, 2021.
Technical Program Committee. 2017 IEEE International Conference on Robotics and Biomimetics, Macau SAR, China, December 4-8, 2017.
Local Organizing Committee. The 2nd IFToMM International Symposium on Robotics and Mechatronics (ISRM 2011), Shanghai, China, November 3-5, 2011.
Local Organizing Committee. The 2010 EMARO Meeting and Workshop "European Master on Advanced Robotics", Shanghai, China, July 7-9, 2010.

3. JOURNAL ASSOCIATE EDITOR
ASME Journal of Mechanical Design

4. JOURNAL YOUNG EXPERT: SECTION EDITOR
Engineering

5. 期刊审稿人：
IEEE Robotics and Automation Letters
IEEE Transactions on Industrial Electronics
IEEE Transactions on Industrial Informatics
IEEE Transactions on Automatic Control
IEEE Transactions on Neural Networks
ASME Journal of Mechanisms and Robotics
ASME Journal of Dynamic Systems, Measurement and Control
IEEE/ASME Transactions on Mechatronics
Mechanism and Machine Theory
Automatica
Mechatronics
Robotics and Autonomous Systems
Robotica
Journal of Process Control
Asian Journal of Control
Nonlinear Dynamics
Robotics and Computer Integrated Manufacturing
自动化学报
机械工程学报
机器人

吴文俊人工智能科学技术奖：技术发明二等奖，2018
中国专利优秀奖，2018