2004-2008   上海交通大学   博士

2010.7-   上海交通大学 机械与动力工程学院 历任助理研究员、副教授、教授
2013.5-   上海交通大学 机械与动力工程学院 硕士生导师
2016.5-   上海交通大学 机械与动力工程学院 博士生导师

宇航空间机构与机器人

 ● 以星球车为对象，研究主动悬架机构设计、车辆动力学、自主导航与运动规划、轨迹跟踪及动态自适应控制；
 ● 以卫星机器人为对象，研究空间精细操控机构设计、视觉/力觉融合感知及AI控制方法；

 ● 团队具有丰富的工程实践经验，与航天院所合作研制多台星球车、七自由度冗余机械臂，及机器人末端捕获、精细操作工具等样机，开发软硬件控制系统，完成微重力环境或地外星表模拟环境验证实验，为空间任务实施提供了关键支撑；
 ● 拥有载人星球车、轮腿式星球车、10自由度空间精细操作模拟平台、多足攀附机器人等整机系统，视觉、力觉传感器、自研微型驱动器、自研控制器等单元器件，机器人标定测量设备等，具有良好的软硬件实验环境，为科研工作提供切实保障。

 课题组研究生的选题以宇航空间机器人为背景，但关键技术同样适用于工业及服务机器人、智能驾驶领域。近年，研究生毕业去向包括：ABB机器人（2019届）、UR机器人（2019届）、上汽新能源（2019届）、华为（2020届）、联影医疗（2020届）、中兴（2021届）、鉴智机器人（2021届）、海康威视（2022届）、云骥智行（2023届）、汇川（2024届）、比亚迪（2024届）、埃夫特（2025届）、穹彻（2025届）等机器人与人工智能领域的知名企业，以及南方科大、上海大学等高等院校，或国家重点骨干企业航天科技、中航工业下属的大型科研院所。

 课题组努力营造和谐、积极向上的科研氛围，打造一流科研环境，热忱欢迎机构学与机器人、车辆工程等相关专业的学生加盟我们团队。

 注：2025级尚有专硕名额1名

上海市航空航天智能制造专业技术服务平台， 主任

中国机械工程学会 空间机构分会，委员

中国机械工程学会 机器人分会，委员

中国机械工程学会 机械传动分会，委员

中国机械工程学会 IFToMM中国委员会，委员
中国自动化学会空间及运动体控制委员会，委员

主持国家自然科学基金3项、国家重点研发计划课题2项，及ZB预研航天联合基金等宇航空间机器人领域的国防课题20余项，近年代表性课题包括：
 2024-2027：国家重点研发计划课题，大型重载冗余驱动模拟技术与平台构建，负责人

 2025-2027：GF科工局项目，***抛射机器人的设计与控制，负责人

 2025-2027：国防项目，月面微小型机器人开发，负责人

 2022-2025：国家自然科学基金，深空探测主动腿式着陆机构的顺应性设计与控制，负责人
 2022-2024:  中国航天科技集团，***移动系统，负责人
 2022-2024:  中国航天科技集团，***空间机器人捕获非合作目标***，负责人
 2021-2023:  中国航天科技集团，***自主移动机器人总控系统，负责人
 2021-2023:  GF科工局项目，刚柔耦合空间操控机构的顺应性设计理论与控制方法，负责人
 2021-2022：国家重点研发计划课题，六足冰壶机器人控制系统开发与示范应用，负责人

1.  Bike Zhu; Jun He*; Zhicheng Yuan;et al; Probabilistic path planning for wheel-legged rover in dense environment based on extended MDP and configuration topology analysis, IEEE Transactions on Robotics, 2025, 41: 2512-2532.

2.   Yu Xia; Jun He*; Kaixin Li; et al. Agarwal. Anti-saturation prescribed-time control for stochastic systems of free-flying space robots using a self-adapting non-monotonic approach. Aerospace Science and Technology, 2025, 162 : 110231.

3.   Yu Xia; Jun He*; Hak-Keung Lam; Leszek Rutkowski; Radu-Emil Precup. Non-fragile fuzzy control of input-saturated systems with global prescribed performance via an error-triggered mechanism, Information Sciences, 2025, 711: 122111.

4.    Nicholas Kaixun Lee, Jun He*. A novel calibration method of 6-DOF parallel kinematic mechanisms using artificial deep neural networks. Measurement Science and Technology, 2025, 36: 095003.

5.    Zeyang Zhong, Jun He*. Design of Multifunctional End-Effectors for On-Orbit Maintenance Operations. 23rd IFAC Symposium on Automatic Control in Aerospace. Harbin, China, Aug. 2025.

6.    Zhicheng Yuan, Jun He*, Xianxing Shen. An identification and elimination strategy for disturbance moment and force in full-physical simulation. 23rd IFAC Symposium on Automatic Control in Aerospace. Harbin, China, Aug. 2025.

7.     Kaiyuan Ma, Biyun Zhang, Jun He, Jiayi Tan. From Music to Motion: Learning Robotic Emotional Body Expressions from Musical Instruments Playing. 25th International Conference on Control, Automation and Systems (ICCAS). Korea, 2025.

8.    Bike Zhu; Jun He*; Feng Gao; Stiffness optimization design of wheeled-legged rover integrating active and passive compliance capabilities, Mechanism and Machine Theory, 2024, 202:105758

9.    Bike Zhu, Jun He*, Jiaze Sun. Kinematic modeling and hybrid motion planning for wheeled-legged rovers to traverse challenging terrains, Robotica, 2024, 42(1): 153-178.

10.  Jun He. Keynote speech “Design, control and ground verification test of space manipulating robots”. 7th Asian Conference on Mechanisms and Machine Science, Almaty, Kazakhstan, August 28-30, 2024.

11.  Bike Zhu, Jun He*, Feng Gao. Dynamic modeling and stability performance analysis of a wheeled-legged rover, IFToMM China International Conference on Mechanism and Machine Science and Engineering, Tianjin, China, 2024.

12.  Bike Zhu, Jun He*, Kaiyuan Ma, et al. Efficient motion planning for hybrid locomotion of wheeled-legged planetary rovers, 7th Asian Conference on Mechanisms and Machine Science, Almaty, Kazakhstan, August 28-30, 2024.

13.  Nicholas Kai Xun Lee; Jun He*. Design and Control of a 14-DOF Motion Simulator. 9th International Conference on Mechatronics Engineering (ICOM), August 13-14, 2024, pp. 327-333.

14.  Xianxing Shen, Jun He*, Nicholas Kai Xun Lee, et al. Design and Kinematics Analysis of a Novel Quadruped Climbing Robot with Gripper. 7th Asian Conference on Mechanisms and Machine Science, Almaty, Kazakhstan, August 28-30, 2024, pp. 351-360.

15.  Zhicheng Yuan, Jun He*, Kai Wu, et al. Inertia parameters identification in the process of capturing non-cooperative target using a 7-DOF manipulator. 7th Asian Conference on Mechanisms and Machine Science, Almaty, Kazakhstan, August 28-30, 2024.

16.  Jun He; Yanlong Sun; Limin Yang; et al. Design and Control of TAWL—A Wheel-Legged Rover With Terrain-Adaptive Wheel Speed Allocation Capability. IEEE/ASME Transactions on Mechatronics, 2022, 27(4):2223-2234.

17.  Bike Zhu, Jun He*, Jiaze Sun, Yan Xing and Feng Gao. Plane-based grid map: A robot-centric mapping algorithm for wheel-legged rover motion planning in unstructured terrain environments. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2022, doi:10.1177/09544062221104376.

18.  Qingpeng Wen, Jun He*, Feng Gao. Kinematic design of a novel Multi-legged robot with Rigid-flexible coupling grippers for asteroid exploration. Robotica (2022), 40, pp. 3699-3725.

19.  Bike Zhu, Jun He*, Yan Xing and Feng Gao. A Plane-based Map for Wheel-legged Rover Efficient Motion Planning during Planetary exploration, The 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP 2021), Shanghai, China, November 26-28, 2021.

20.  Jie Li, Jun He*, Yan Xing, and Feng Gao. Towards Uniform Normal Force Distribution by Roll and Height Control for a Planetary Rover with Active Suspension, The 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP 2021), Shanghai, China, November 26-28, 2021.

21.  Qingpeng Wen, Jun He*, Zhicong Wang, Jiaze Sun, Feng Gao. Design and Kinetostatic Analysis of a Legged Robot for Asteroid Exploration. The 14th International Conference on Intelligent Robotics and Applications (ICIRA2021), Yantai, China, October 22-25, 2021.

22.  Jie Li, Jun He*, Yan Xing, and Feng Gao. Simultaneous Control of Terrain Adaptation and Wheel Speed Allocation for a Planetary Rover With an Active Suspension System, IEEE ROBOTICS AND AUTOMATION LETTERS, VOL. 6, NO. 4, OCTOBER 2021.

23.  Jie Li, Jun He*, Yan Xing, Feng Gao. Dimensional optimization of rocker-bogie suspension for planetary rover based on kinetostatics and terramechanics. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2021. doi:10.1177 /09544062211027200.

24.  Qiaoying Ding, Jun He*. The detection of non-cooperative targets in space by using 3D point cloud .2019 5th International Conference on Control, Automation and Robotics (ICCAR).Beijing，April 19-22

25.  Jun He, Zhenchuan Sun, Feng Gao. Design of Three-finger Capturing Mechanism Using Artificial Muscles of Twisted and Coiled Polymer. Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, Krakow, Poland, June 30 - July 4, 2019, pp. 2975-2984.

26.  Qiaoying Ding, Jun He*. The Detection of Non-Cooperative Targets in Space by Using 3D Point Cloud. 5th International Conference on Control, Automation and Robotics, Beijing, China, April 19-22, 2019, pp.545-549.

27.  Xu Cai, Jun He*, Feng Gao. Kinematic Modeling and Simulation of a Leg-Wheel Robot for Unexplored Rough Terrain Environment. IFToMM International Conference on Mechanisms, Transmissions and Applications, Dalian, China, October 9-11, 2019, pp. 464-473.

28.   Haichao Zheng, Jun He*. A 13-DOF hardware-in-loop (HIL) simulator for space operation and its compliant control method. International Conference on China Mechanisms and Machinery Science (CCMMS 2018), Aug.2-4, Beijing, China.

29.   Jun He, Feng Gao. Type Synthesis for Bionic Quadruped Walking Robots. Journal of Bionic Engineering, 2015, 12(4): 1-12.

30.   Jun He, Feng Gao, Xiangdun Meng, Weizhong Guo. Type Synthesis for 4-DOF Parallel Press Mechanism Using GF Set Theory. Chinese Journal of Mechanical Engineering, 2015, 28(4): 851-859.

31.   Jun He, Feng Gao, Dan Zhang. Design and performance analysis of a novel parallel servo press with redundant actuation, International Journal of Mechanics and Material in Design, 2014, 10:145-163.

32.   Jun He, Feng Gao, Yongjun Bai, et al. Dynamic modeling and experiment of a new type of parallel servo press considering gravity counterbalance. Chinese Journal of Mechanical Engineering, 2013, 26(6): 1222-1233.

33.   Jun He, Feng Gao, Yongjun Bai. A two-step calibration methodology of multi-actuated mechanical servo press with parallel topology, Measurement, 2013,46(8): 2269-2277

34.    Jun He, Feng Gao, Shengfu Wu, et al. Measure dimension of rotating large hot steel shell using pulse laser on PRRR robot. Measurement, 2012,45 (7):1814-1823.

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