⌛当前研究
| - | 腿式机器人 |
| 聚焦双足/人形、四足等腿式机器人的仿生设计集成和全身运动控制。 | |
| - | 移动机械臂 |
| 聚焦移动机械臂系统在非结构化环境下的多模态感知和灵巧操作。 |
✅过往研究
| - | 腿式运动基于降阶模型的运动控制 |
| 该部分研究聚焦于腿式运动基于降阶模型的动力学建模，从而优化机器人腿部设计和提供有效的控制策略。通过腿部参数的遍历仿真，对机器人速度、效率和稳定性进行了评估，寻找到腿部参数的优化区间，成功帮助某一克重机器人实现了基于嵌入式被动控制的腿部参数设计。 此外，基于降阶模型动力学仿真对腿部控制策略进行了优化设计，实现了针对诸如雪地、草地、浅滩等高阻力地面环境的高效腿式运动。 | |
| - | 模型参数的识别及其不确定性分析 |
| 该部分研究聚焦于智能材料的建模，为后续的控制应用做准备。通过对比实验测得的数据和基于固体力学所得模型的预测，我们利用贝叶斯方法来实现模型参数的定量识别和不确定性的量化。研究结果揭示了利用较为简单的代理模型来进行材料行为控制的有效性。 为了进一步改善不确定性分析的过程，我们还尝试利用最大熵方法实现更客观的数据融合和更准确的不确定性量化分析。 |
💰科研项目
| [F10] | 双足人形机器人整机集成与控制，启智（芜湖）智能机器人有限公司横向项目： |
| 2025.03 - 2026.02，主持。 | |
| [F09] | 人形机器人关键技术研发与应用，安徽省科技攻坚计划重大项目： |
| 2024.09 - 2027.09，参与。 | |
| [F08] | 面向高动态行为的双足人形机器人全身运动控制，先进越野系统技术全国重点实验室开放基金项目： |
| 2024.01 - 2025.12，主持。 | |
| [F07] | 复杂环境下机器人运动控制的模仿学习技术，国家自然科学基金企业联合基金项目： |
| 2023.01 - 2026.12，课题主持。 | |
| [F06] | 面向灾害救援复杂任务的灵巧作业机器人关键技术与理论研究，国家自然科学基金区域联合基金项目： |
| 2022.01 - 2025.12，参与。 | |
| [F05] | 基于地面阻抗自感知的腿式运动实时优化控制研究，国家自然科学基金青年科学基金项目： |
| 2022.01 - 2024.12，主持。 | |
| [F04] | 科研用核生化机器人……，天津（滨海）人工智能军民融合创新中心横向项目： |
| 2021.07 - 2022.12，参与。 | |
| [F03] | 撼地者救援机器人优化研究，2020年首届“智创杯”前沿技术挑战赛获奖项目： |
| 2021.06 - 2022.06，参与。 | |
| [F02] | 中国科大-安徽爱博智能机器人联合实验室，安徽爱博智能科技有限公司横向项目： |
| 2021.01 - 2025.12，参与。 | |
| [F01] | 基于降阶模型非线性规划的腿式机器人跑动研究，中国科学技术大学青年创新基金项目： |
| 2021.01 - 2022.12，主持。 |
🏆荣誉奖励
| [A06] | 2025年第二十四届全国大学生机器人大赛RoboMaster 2025机甲大师超级对抗赛 |
| 区域赛（中部赛区）第一名、全国赛第二名，指导老师 | |
| [A05] | 2024年第二十三届全国大学生机器人大赛RoboMaster 2024机甲大师超级对抗赛 |
| 区域赛（东部赛区）一等奖、全国赛二等奖，指导老师 | |
| [A04] | 2021年第七届“互联网+”大学生创新创业大赛高教主赛道 |
| 安徽省金奖、全国铜奖，指导老师 | |
| [A03] | 2021年第三届“中国科大庆峰杯”创新创业大赛 |
| 一等奖，优秀指导老师 | |
| [A02] | 2020年第五届“合肥十大创新人物” |
| 团队成员 | |
| [A01] | 2020年第一届“智创杯”前沿技术挑战赛锦标赛 |
| 第一名，领队 |
📃论文专著
| [J15] | Shenglong Xie; Yu Lv; Shiwu Zhang; Wei Gao*; Shiyuan Bian*; Movement Intention Decoding from Electromyographic Signals Using Deep Residual Networks and Bidirectional Long Short-Term Memory with Hybrid Attention, IEEE Sensors Journal. (Accepted) |
| [J14] | Zhenyi Chai#; Wei Gao#; Jingwen Kong; Qiqiang Hu; Yiming Ouyang; Lei Zhang; Mengli Sui; Erbao Dong; Weihua Li; Hu Jin*; Shiwu Zhang*; A Teleost-inspired Multimodal Locomotion Soft Robot with High Bandwidth Artificial Muscles, Soft Robotics. (Accepted) |
| [J13] | Bingliang Bao; Xiaoxin Yu; Erlong Wang; Deyang Chu; Wei Gao*; Yiming Ouyang; Chunyang Zhang; Wenbing Chen; Chen Wang; Hu Jin*; Shiwu Zhang; Mechanical Specimen Preparation Method for Next-Generation Cotton Quality Testing Using HVIs, Industrial Crops and Products, 2025, 233:121455. |
| [J12] | Zelin Chen; Hanlu Chen; Yiming Ouyang*; Chenhao Cao; Wei Gao; Qiqiang Hu; Hu Jin*; Shiwu Zhang; A High-Resolution and Whole-Body Dataset of Hand-Object Contact Areas Based on 3D Scanning Method, Scientific Data, 2025, 12:451. |
| [J11] | Bingliang Bao; Xiaoxin Yu; Erlong Wang; Deyang Chu; Wei Gao; Yiming Ouyang; Wenbing Chen; Chen Wang; Hu Jin*; Shiwu Zhang; A Vibrating-Needle Based Non-Destructive Tearing Method for Mechanical Specimen Preparation in Length and Strength Testing of Cotton Fibers, Industrial Crops and Products, 2025, 225:120478. |
| [J10] | Chao Ji; Diyuan Liu; Wei Gao*; Shiwu Zhang*; Learning-Based Locomotion Control Fusing Multimodal Perception for a Bipedal Humanoid Robot, Biomimetic Intelligence and Robotics, 2025, 5(1):100213. |
| [J09] | Chao Ji; Diyuan Liu; Wei Gao*; Shiwu Zhang*; Robust Walking and Sim-To-Real Optimization for Quadruped Robots via Reinforcement Learning, Journal of Bionic Engineering, 2025, 22:107-117. |
| [J08] | Tonghui Peng; Wei Gao*; Ya Wu; Yulong Ma; Shiwu Zhang; Yinan Hu*; Inducing Alternating Magnetic Fields for Real-Time Non-Contact Fault Localization Within Electric Energy Storage Component Arrays, Review of Scientific Instruments, 2024, 95(10):105111. |
| [J07] | Yuan Yao; Wei Gao*; Shixin Mao; Shiwu Zhang*; Road Extraction From Point Cloud Data With Transfer Learning, IEEE Geoscience and Remote Sensing Letters, 2024, 21:6502005. |
| [J06] | Ze Yang; Hu Jin*; Wei Gao*; Erlong Wang; Yang Shu; Ming Wu; Shiwu Zhang; Hierarchical Trajectory Deformation Algorithm with Hybrid Controller for Active Lower Limb Rehabilitation, IEEE Robotics and Automation Letters, 2024, 9(7):6240-6247. |
| [J05] | Yu Zhang#, Yuxiang Li#; Hefei Zhang; Yu Wang; Zhihao Wang; Yinong Ye; Yongming Yue; Ning Guo; Wei Gao*; Haoyao Chen*; Shiwu Zhang*; Earthshaker: A Mobile Rescue Robot for Emergencies and Disasters through Teleoperation and Autonomous Navigation, Journal of University of Science and Technology of China, 2023, 53(1):4. |
| [J04] | Wei Gao; Paul R. Miles; Ralph C. Smith; William S. Oates*; The Maximum Entropy Method for Data Fusion and Uncertainty Quantification in Multifunctional Materials and Structures, Journal of Intelligent Material Systems and Structures, 2022, 33(9):1182-1197. |
| [J03] | Sean Gart*; Ryan Alicea; Wei Gao; Jason Pusey; John V. Nicholson; Jonathan E. Clark; Legged Locomotion in Resistive Terrains," Bioinspiration & Biomimetics, 2021, 16(2):025001. |
| [J02] | Ryan St Pierre#; Wei Gao#; Jonathan E. Clark; Sarah Bergbreiter*; Viscoelastic Legs for Open-loop Control of Gram-scale Robots, Bioinspiration & Biomimetics, 2020, 15(5):055005. |
| [J01] | Wei Gao; Paul R. Miles; Adriane G. Moura; M. Yousuff Hussaini; William S. Oates*, "Uncertainty Analysis of Dielectric Elastomer Membranes under Electromechanical Loading," Smart Materials and Structures, 2019, 28(5):055027. |
| [C25] | Haoyang Ren; Runchen Xu; Yihang Wang; Yutong Jiang; Zhen Han; Yu Wang*; Wei Gao*; Shiwu Zhang; WLIP-WT Model Based MPC-VMC Hierarchical Control for Wheeled Biped Robots, in 2025 IEEE International Conference on Robotics and Biomimetics (ROBIO). (Accepted) |
| [C24] | Yihang Wang; Runchen Xu; Haoyang Ren; Yu Wang*; Wei Gao*; Shiwu Zhang; Robust Adaptive Model Predictive Control for Wheel-Legged Robots Under Unknown Loads, in 2025 IEEE International Conference on Robotics and Biomimetics (ROBIO). (Accepted) |
| [C23] | Anji Lin; Yu Wang*; Wei Gao*; Shiwu Zhang; Conformal Predictive Safety Filter for Globally Guided Spatio-Temporal A* Planner in Dynamic Environments, in 2025 IEEE International Conference on Robotics and Biomimetics (ROBIO). (Accepted) |
| [C22] | Jialong Xue; Wei Gao*; Yu Wang*; Chao Ji; Dongdong Zhao; Shi Yan; Shiwu Zhang; High-precision Transformer-Based Visual Servoing for Humanoid Robots in Aligning Tiny Objects, in 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (Accepted) |
| [C21] | Chao Ji; Diyuan Liu; Wei Gao*; Shiwu Zhang*; Robust and Efficient Walking of a Bipedal Humanoid Robot via Reinforcement Learning, in 2025 IEEE International Conference on Real-time Computing and Robotics (RCAR), pp. 381-388. (Best Paper in Robotics Award) |
| [C20] | Jiangtao Hu; Wei Gao*; Xiaohu Zhang; Jinyu Cheng; Shiwu Zhang*; Predictive Control of a Spined Quadrupedal Robot Based on a Dual Rigid-Body Model, in 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 292-298. |
| [C19] | Kaicen Li; Wei Gao*; Shiwu Zhang*; Rapid Learning of Natural Gaits for Quadrupedal Locomotion and Skill Reuse in Downstream Tasks, in 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 2330-2336. |
| [C18] | Tengda Wang; Yuewei Zhu; Xiaohu Zhang; Wei Gao*; Shiwu Zhang*; A Telepresense Enhancing Method Based on Human Arm Dynamics, in 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1415-1421. |
| [C17] | Hefei Zhang#; Xiaohu Zhang#; Jinyu Cheng; Jiangtao Hu; Chao Ji; Yu Wang; Yutong Jiang; Zhen Han; Wei Gao*; Shiwu Zhang*; Torque Ripple Reduction in Quasi-Direct Drive Motors Through Angle-Based Repetitive Learning Observer and Model Predictive Torque Controller, in 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3546-3552. |
| [C16] | Jichao Wang#; Jinyu Cheng#; Jiangtao Hu; Wei Gao*; Shiwu Zhang*; Spined Torso Renders Advanced Mobility for Quadrupedal Locomotion, in 2024 IEEE International Conference on Robotics and Automation (ICRA), pp. 1457-1463. |
| [C15] | Yu Liao; Wei Gao*; Shixin Mao; Shiwu Zhang; An Incremental Few Shot Approach for Litter Detection, in 2024 ACM 3rd Asia Conference on Algorithms, Computing and Machine Learning (CACML), pp. 245-250. |
| [C14] | Yinong Ye; Yongming Yue; Wei Gao*; Shiwu Zhang*; Decoupled Control of Bipedal Locomotion Based on HZD and H-LIP, in 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1-6. (T.J. Tarn Best Paper Award in Robotics Finalist) |
| [C13] | Xinyi Li; Wei Gao*; Xiangpeng Li; Shiwu Zhang*; Terrain-guided Symmetric Locomotion Generation for Quadrupedal Robots via Reinforcement Learning, in 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1-6. |
| [C12] | Lingjian Mao; Wei Gao*; Haoyao Chen; Shiwu Zhang*; LIO-DOR: A Robust LiDAR Inertial Odometry with Real-time Dynamic Object Removal, in 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1-7. |
| [C11] | Ziqi Li; Wei Gao*; Haoyao Chen; Shiwu Zhang*; USP-SLAM: Deep Learning Based Visual SLAM with Robust Feature Extraction under Dynamic Environments, in 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1-6. |
| [C10] | Chao Ji; Diyuan Liu; Wei Gao*; Shiwu Zhang*; Blind Walking Balance Control and Disturbance Rejection of the Bipedal Humanoid Robot Xiao-Man via Reinforcement Learning, in 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1-7. (T.J. Tarn Best Paper Award in Robotics Finalist) |
| [C09] | Chao Ji; Diyuan Liu; Mingxin Zhou; Wei Gao; Shiwu Zhang*; A Learning-based Motion Control Policy Fusing Multi-mode Perception for Legged Robot, in 2023 IEEE International Conference on Real-time Computing and Robotics (RCAR), pp. 378-383. |
| [C08] | Yu Zhang; Yongming Yue; Yingrong Chen; Haoyao Chen; Wei Gao*; Shiwu Zhang; Payload Quantification via Proprioceptive-only Sensing for a Single-legged Vertical Hopper, in 2022 IEEE International Conference on Real-time Computing and Robotics (RCAR), pp. 670-675. |
| [C07] | Yongming Yue; Yu Zhang; Wei Gao*; Shiwu Zhang; Workload-adaptive Vertical Hopping of a Single-legged Robot using Model-based Optimization," in 2021 IEEE International Conference on Real-time Computing and Robotics (RCAR), pp. 281-286. |
| [C06] | Ning Guo; Zujun Bai; Wei Gao*; Haoyao Chen; Shiwu Zhang; Passively Deformable Flipper Legs for an Amphibious Quadruped, in 2021 IEEE International Conference on Real-time Computing and Robotics (RCAR), pp. 738-743. |
| [C05] | Jacob Hackett; Wei Gao; Monica Daley; Jonathan Clark; Christian Hubicki*; Risk-constrained Motion Planning for Robot Locomotion: Formulation and Running Robot Demonstration, in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3633-3640. |
| [C04] | Wei Gao, Charles Young; John Nicholson; Christian Hubicki; Jonathan Clark*; Fast, Versatile, and Open-loop Stable Running Behaviors with Proprioceptive-only Sensing Using Model-based Optimization, in 2020 IEEE International Conference on Robotics and Automation (ICRA), pp. 483-489. |
| [C03] | Wei Gao; Williams S. Oates*; Paul R. Miles; Ralph C. Smith; Application of the Maximum Entropy Method to Multifunctional Materials for Data Fusion and Uncertainty Quantification, in ASME Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), 2018, vol. 51951, p. V002T08A003. |
| [C02] | Wei Gao; Williams S. Oates*; Ralpha C. Smith; A Maximum Entropy Approach for Uncertainty Quantification and Analysis of Multifunctional Materials, in ASME Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), 2017, vol. 58257, p. V001T08A013. |
| [C01] | Williams Oates*; Paul Miles, Wei Gao, Jonathan Clark; Somayeh Mashayekhi; M. Yousuff Hussaini; Rate Dependent Constitutive Behavior of Dielectric Elastomers and Applications in Legged Robotics, in SPIE Electroactive Polymer Actuators and Devices (EAPAD) 2017, vol. 10163, p. 1016316. |
| [PP03] | Tianchen Huang; Runchen Xu; Yu Wang*; Wei Gao*; Shiwu Zhang; Traversing Narrow Paths: A Two-Stage Reinforcement Learning Framework for Robust and Safe Humanoid Walking, arXiv preprint, arXiv: 2508.20661. |
| [PP02] | Jialong Xue; Wei Gao*; Yu Wang*; Chao Ji; Dongdong Zhao; Shi Yan; Shiwu Zhang; High-Precision Transformer-Based Visual Servoing for Huamnoid Robots in Aligning Tiny Objects, arXiv preprint, arXiv: 2503.04862. |
| [PP01] | Tonghui Peng; Wei Gao*; Ya Wu; Yulong Ma; Shiwu Zhang; Yinan Hu*; A Real-time Non-contact Localization Method for Faulty Electric Energy Storage Components Using Highly Sensitive Magnetometers, arXiv preprint, arXiv: 2308.07708. |
| [P06] | 一种轮足复合机器人（受理，2025-10-11） 张世武，徐润辰，姜雨彤，韩震，王煜，高纬。发明专利，CN202511448696.9，2025-10-11。 |
| [P05] | 一种用于机器人特征对齐的视觉伺服方法（授权，2025-09-19） 张世武，薛佳龙，高纬，王煜。发明专利，ZL202510954310.5，2025-07-11。 |
| [P04] | 一种腿式机器人的移动控制方法（授权，2025-04-15） 高纬，韩震，姜雨彤，岳永铭，张晓虎，王煜，张世武。发明专利，ZL202411919748.1，2024-12-25。 |
| [P03] | 一种机器人关节准直驱电机转矩波动抑制方法（实审，2024-08-27） 张世武，张晓虎，张贺飞，高纬。发明专利，CN202410747271.7，2024-06-11。 |
| [P02] | 基于振动诱导的用于遥操作系统的力反馈方法及装置（授权，2024-07-12） 张世武，朱阅微，王腾达，高纬，张晓虎，谢远哲。发明专利，ZL202410471429.2，2024-04-19。 |
| [P01] | 储能器件阵列缺陷检测方法、装置、系统及电子设备（实审，2023-11-21） 马玉龙，彭同辉，吴亚，万传奇，许克标，张世武，高纬。发明专利，CN202310914588.0，2023-07-21。 |
🧠翻译
动物移动原理，作者： R. McNeill Alexander。
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