周乐来
Professor
Visit:
Personal Information:
  • Name (Pinyin):
    zhoulelai
  • Date of Employment:
    2015-12-15
  • School/Department:
    控制科学与工程学院
  • Education Level:
    With Certificate of Graduation for Doctorate Study
  • Gender:
    Male
  • Degree:
    Doctor
  • Status:
    Employed
  • Alma Mater:
    奥尔堡大学
  • Supervisor of Doctorate Candidates
Biography

山东大学教授,博士生导师,山东大学机器人研究中心副主任。山东省杰青,“特种机器人设计与控制技术”教育部重点实验室副主任。2012年3月毕业于丹麦奥尔堡大学,获得博士学位;2011年1月至5月在美国加州大学伯克利分校(University of California, Berkeley)任访问学者。兼任中国自动化学会共融机器人专委会委员,中国自动化学会智能制造系统与技术专业委员会委员,中国机器人大赛-共融机器人挑战赛裁判组专家,山东电子学会青年科学家工作委员会委员,山东电子学会标准化管理委员会委员。担任Industrial Robot期刊(IF:2)副主编,Biomimetic Intelligence and Robotics 国际期刊(EI检索)副主编,Actuators客座编辑,无人系统技术期刊青年编委。作为主创人员创刊了Biomimetic Intelligence and Robotics 国际期刊,该期刊由ELSEVIER与山东大学机器人研究中心联合创办。

主要研究方向:机器人设计与系统优化,柔顺机器人设计与控制,人机协作,多机器人协同控制等。主持国家重点研发计划课题3项、国防类重点项目5项、国家自然科学基金项目3项、山东省重点研发计划课题1项,作为技术负责人承担国防类重点项目1项、国家自然科学基金项目重大研究计划项目1项,企业委托课题4项总立项科研经费3000余万元

作为第一作者或通讯作者,在国内外重要学术刊物发表70余篇学术论文,其中SCI收录期刊论文35篇,SCI期刊Q1区论文10篇,主要发表于IEEE TIE,IEEE Tmech,IEEE TIM,IEEE RAL,Information Fusion(IF:17.564), Measurement等高影响力国际期刊。申请国家发明专利28项,已授权国家发明专利24项。发表在国际刊物一区Top期刊论文5篇,影响力大。周乐来教授结合机器人学、生物力学、仿生学研究,取得了多项标志性研究成果。

Education
  • 2008-10 — 2011-12
    丹麦奥尔堡大学
    机械工程
    Doctoral Degree in Philosophy
  • 2006-9 — 2008-9
    北京航空航天大学
    机械设计及理论
    Master's Degree in Engineering
  • 2002-9 — 2006-7
    北京科技大学
    机械工程自动化
    Bachelor's Degree in Engineering
  • 1999-9 — 2002-7
    山东龙口第一中学
Publication
Papers

1. 周乐来. LiDAR-Based 3D Glass Detection and Reconstruction in Indoor Environment .《IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT》.2024 :1-1

2. 张辰. Pareto Optimal Reconfiguration Planning and Distributed Parallel Motion Control of Mobile Modular Robots .IEEE Transactions on Industrial Electronics.2023

3. 孙玉杰. A quaternion-based sensor fusion approach using orthogonal observations from 9D inertial and magnetic information .Information Fusion.2023,90 :138-147

4. 吴举名. 基于虚拟模型的类拖车机器人系统轨迹跟踪控制 .人工智能.2022 (03):44-54

5. 孙玉杰. An Adaptive Zero Velocity Interval Detector Using Instep-mounted Inertial Measurement Unit .《IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT》.2021, vol. 70 (无)

6. 孙玉杰. A quaternion-based sensor fusion approach using orthogonal observations from 9D inertial and magnetic information .Information Fusion.2023,90 (无)

7. 徐小龙. An Encoder-free Joint Velocity Estimation Method for Serial Manipulators Using Inertial Sensors .2021

8. 张辰. Optimal Path and Timetable Planning Method for Multi-Robot Optimal Trajectory .IEEE ROBOTICS AND AUTOMATION LETTERS.2022,7 (3):8130

9. 李雪. A Multi-model Human Motion Tracking Approach with Wearable IMU Sensors .2020 :1871-1876

10. Ding, Chao. Online center of mass detection for quadruped robots in trot gait motion .2019 :2140-2145

11. Yang, Miao. Indoor Pedestrian Positioning Method Based on Pelvic Motion Model Using Inertial Sensors .2020 :1846-1851

12. Li, Tianfa. A Quasi-Elliptic Foot Trajectory Planning Approach Based on the Stochastic Linear Complementarity Problem for Electrical Quadruped Robots .2019 :837-842

13. Li, Jianhua. An integrated configuration optimization approach for 6-dof serial manipulators on performance indices .2019 :53-58

14. Song, Zhaopeng. Design and Control of a Series Elastic Actuator with High Compliance for Serial Manipulators .2019 :872-876

15. Sun, Yujie. A Decoupled Orientation Estimation Approach for Robust Roll and Pitch Measurements in Magnetically Disturbed Environment .《IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT》.2022,71

16. 王帅. 多移动机器人编队领航跟随方法研究进展 .无人系统技术.2019,2 (5):1-8

17. 张辰. 多机器人协同导航技术综述 .无人系统技术.2020,3 (2):1-8

18. 徐小龙. A Novel Orientation Determination Approach of Mobile Robot Using Inertial and Magnetic Sensors .IEEE Transactions on Industrial Electronics.2023 (1557-9948):4267

19. 陈腾. Realization of complex terrain and disturbance adaptation for hydraulic quadruped robot under flying trot gait .2019 :2055-2060

20. 丁超. A Novel Dynamic Locomotion Control Method for Quadruped Robots Running on Rough Terrains .IEEE ACCESS.2020 (8):150435

21. 徐小龙. A Double-EKF Orientation Estimator Decoupling Magnetometer Effects on Pitch and Roll Angles . IEEE Transactions on Industrial Electronics.2022,69 (2):2055

22. 周乐来. An Efficient Gait-generating Method for Electrical Quadruped Robot Based on Humanoid Power Planning Approach .JOURNAL OF BIONIC ENGINEERING.2021,18 (6):1463

23. 孙玉杰. An Adaptive Zero-Velocity Interval Detector Using Instep-Mounted Inertial Measurement Unit .《IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT》.2021,70

24. 陈腾. A compliant control method for robust trot motion of hydraulic actuated quadruped robot .International Journal of Advanced Robotic Systems.2018,31 (6)

25. 徐小龙. A proposed attitude estimator with reliability test criteria for sensor data fusion .Measurement: Journal of the International Measurement Confederation.2020,150 (4)

26. 徐小龙. A Novel Joint Angle Estimation Method for Serial Manipulator Using Micro-Electromechanical Systems Sensors . IEEE Transactions on Industrial Electronics.2020,67 (12):10610

27. 张辰. A Dynamic Path Planning Method for Social Robots in the Home Environment .ELECTRONICS.2020,9 (7)

28. 丁超. A Novel Dynamic Locomotion Control Method for Quadruped Robots Running on Rough Terrains .IEEE ACCESS.2020 (8)

29. 李田法. An Energy Efficient Motion Controller Based on SLCP for the Electrically Actuated Quadruped Robot .JOURNAL OF BIONIC ENGINEERING.2020,17 (2):290

30. 丁超. A Novel Dynamic Locomotion Control Method for Quadruped Robots Running on Rough Terrains .IEEE Access .2020,8 :150435

31. 张辰. A Dynamic Path Planning Method for Social Robots in the Home Environment .ELECTRONICS.2020 (9)

32. 丁超. A LATERAL IMPACT RECOVERY METHOD FOR QUADRUPED ROBOT WITH STEP HEIGHT COMPENSATION .International Journal of Robotics and Automation.2020,35 (3):199

33. 徐小龙. A Novel Joint Angle Estimation Method for Serial Manipulator Using Micro-Electromechanical Systems Sensors .IEEE Transactions on Industrial Electronics .2020,67 (12):10610

34. Cheng, Jinling. Artificial intelligence technology based on deep learning in digestive endoscopy imaging diagnosis .Personal and Ubiquitous Computing.2020

35. 丁超. Locomotion Control of Quadruped Robots With Online Center of Mass Adaptation and Payload Identification .IEEE Access .2020 (8)

36. 徐小龙. A proposed attitude estimator with reliability test criteria for sensor data fusion .Measurement: Journal of the International Measurement Confederation.2020,150 (107046):1

37. 李田法. An Energy Efficient Motion Controller based on SLCP for the Electrically Actuated Quadruped Robot .JOURNAL OF BIONIC ENGINEERING.2020,17 (2):290

38. zhoulelai , rongxuewen , Li Yibin  and 杨琨. Onboard hydraulic system controller design for quadruped robot driven by gasoline engine .Mechatronics.2018,27 :36

39. zhoulelai , rongxuewen , Li Yibin  and 杨琨. Onboard hydraulic system controller design for quadruped robot driven by gasoline engine .Mechatronics.2018,52

40. Li Yibin , rongxuewen , zhoulelai  and CHEN TENG. A Trot and Flying Trot Control Method for Quadruped Robot Based on Optimal Foot Force Distribution .JOURNAL OF BIONIC ENGINEERING.2019,16 (4):621

41. zhoulelai , rongxuewen , Li Yibin  and 杨琨. An Energy Optimal Foot Trajectory for the Hydraulic Actuated Quadruped Robot .2018

42. rongxuewen , zhoulelai , Li Yibin  and 杨琨. Modeling and Analysis on Energy Consumption of Hydraulic Quadruped Robot for Optimal Trot Motion Control .Applied Sciences-Basel.2019,9 (9):1771

43. tianxincheng , zhoulelai , Li Yibin  and 徐小龙. A decision-tree based multiple-model UKF for attitude estimation using low-cost MEMS MARG sensor arrays .Measurement.2019,135 :355

44. Li Yibin , zhoulelai , rongxuewen  and 杨琨. Energy Efficient Foot Trajectory of Trot Motion for Hydraulic Quadruped Robot . ENERGIES.2019,12 (13):2513

45. Ke Li , tianxincheng , songrui , zhoulelai , 曾海滨 Classification of Hand Motions Using Linear Discriminant Analysis and Support Vector Machine .2017 Chinese Automation Congress (CAC).2017 :2353

46. zhoulelai  and Li Yibin. A human-centered design optimization approach for robotic exoskeletons through biomechanical simulation .Robotics and Autonomous Systems.2017, 91 :337

47. zhoulelai  and Li Yibin. Energy Optimal Trajectories in Human Arm Motion Aiming for Assistive Robots .MODELING IDENTIFICATION AND CONTROL.2017, 38 (1):11

48. zhoulelai , Li Yibin , chaihui  and 轩文龙. Controller Design and Experimental Validation of a Robot Joint With Active Compliance .2017 Chinese Automation Congress (CAC).2017 :5156

49. Ke Li , tianxincheng , songrui , zhoulelai , 曾海滨 Difference Between the Surface Electromyogram Signals Recorded From the Right Hand and Left Hand .2017 Chinese Automation Congress (CAC).2017 :4906

50. zhoulelai  and Li Yibin. Design Optimization on Passive Exoskeletons through Musculoskeletal Model Simulation .IEEE International Conference on Robotics and Biomimetics.2016 :1159

51. zhoulelai. Integrated Dimensional and Drive-Train Design Optimization of a Light-Weight Anthropomorphic Arm .Robotics and Autonomous Systems.2012,60 (1):113

52. zhoulelai. Design Optimization on the Drive Train of a Light-Weight Robotic Arm .Mechatronics.2011,21 (3):560

53. zhoulelai. Modeling and Design of a Spring-loaded, Cable-driven, Wearable Exoskeleton for the Upper Extremity .Modeling, Identification and Control.2015,36 (3):167

54. zhoulelai. A New Approach to Design of a Lightweight Anthropomorphic Arm for Service Applications .Journal of Mechanisms and Robotics.2015,7 (3):031001-1

55. zhoulelai. Modeling of Human Arm Energy Expenditure for Predicting Energy Optimal Trajectories .Modeling, Identification and Control.2011,32 (3):91

56. rongxuewen , Li Yibin , chaihui , zhoulelai  and CHEN TENG. A compliant control method for robust trot motion of hydraulic actuated quadruped robot .International Journal of Advanced Robotic Systems.2018,15 (6)

57. tianxincheng , zhoulelai  and 徐小龙. A Robust Incremental-Quaternion-Based Angle and Axis Estimation Algorithm of a Single-Axis Rotation Using MARG Sensors .IEEE Access.2018,6 :42605

58. Li Yibin , rongxuewen , zhoulelai  and CHEN TENG. A Trot and Flying Trot Control Method for Quadruped Robot Based on Optimal Foot Force Distribution .JOURNAL OF BIONIC ENGINEERING.2019,16 (4):621

59. zhoulelai , rongxuewen , Li Yibin  and 杨琨. An Energy Optimal Foot Trajectory for the Hydraulic Actuated Quadruped Robot .2018

60. rongxuewen , zhoulelai , Li Yibin  and 杨琨. Modeling and Analysis on Energy Consumption of Hydraulic Quadruped Robot for Optimal Trot Motion Control .APPLIED SCIENCES-BASEL.2019,9 (9):1771

61. tianxincheng , zhoulelai , Li Yibin  and 徐小龙. A decision-tree based multiple-model UKF for attitude estimation using low-cost MEMS MARG sensor arrays .Measurement.2019,135 :355

62. Li Yibin , zhoulelai , rongxuewen  and 杨琨. Energy Efficient Foot Trajectory of Trot Motion for Hydraulic Quadruped Robot . ENERGIES.2019,12 (13):2513

63. songrui , zhoulelai  and 曾海滨. Difference Between the Surface Electromyogram Signals Recorded From the Right Hand and Left Hand .2017 Chinese Automation Congress (CAC).2017 :4906

64. songrui , zhoulelai  and 曾海滨. Classification of Hand Motions Using Linear Discriminant Analysis and Support Vector Machine .2017 Chinese Automation Congress (CAC).2017 :2353

65. rongxuewen , Li Yibin , chaihui , zhoulelai  and CHEN TENG. A compliant control method for robust trot motion of hydraulic actuated quadruped robot .International Journal of Advanced Robotic Systems.2018,15 (6)

66. tianxincheng , zhoulelai  and 徐小龙. A Robust Incremental-Quaternion-Based Angle and Axis Estimation Algorithm of a Single-Axis Rotation Using MARG Sensors .IEEE Access.2018,6 :42605

67. zhoulelai , Li Yibin , chaihui  and 轩文龙. Controller Design and Experimental Validation of a Robot Joint With Active Compliance .2017 Chinese Automation Congress (CAC).2017 :5156

68. Li Yibin  and zhoulelai. Design Optimization on Passive Exoskeletons through Musculoskeletal Model Simulation .IEEE International Conference on Robotics and Biomimetics.2016 :1159

69. zhoulelai. Modeling and Design of a Spring-loaded, Cable-driven, Wearable Exoskeleton for the Upper Extremity .Modeling, Identification and Control.2015,36 (3):167

70. zhoulelai. A New Approach to Design of a Lightweight Anthropomorphic Arm for Service Applications .Journal of Mechanisms and Robotics.2015,7 (3):031001-1

71. zhoulelai. Integrated Dimensional and Drive-Train Design Optimization of a Light-Weight Anthropomorphic Arm .Robotics and Autonomous Systems.2012,60 (1):113

72. zhoulelai. Modeling of Human Arm Energy Expenditure for Predicting Energy Optimal Trajectories .Modeling, Identification and Control.2011,32 (3):91

73. zhoulelai. Design Optimization on the Drive Train of a Light-Weight Robotic Arm .Mechatronics.2011,21 (3):560

74. Li Yibin  and zhoulelai. A human-centered design optimization approach for robotic exoskeletons through biomechanical simulation .Robotics and Autonomous Systems.2017, 91 :337

75. Li Yibin  and zhoulelai. Energy Optimal Trajectories in Human Arm Motion Aiming for Assistive Robots .MODELING IDENTIFICATION AND CONTROL.2017, 38 (1):11

Patens

1. 六轮独立驱动独立转向机器人复杂地形轨迹跟踪控制方法

2. 一种基于点间距离的三维拉伸体分析与生成方法及系统

3. 基于动作识别和人机距离的人机共融风险预警方法及系统

4. 一种基于SMPL参数的多几何体人体碰撞模型生成方法及系统

5. 基于人机协作的人体碰撞物对接方法及系统

6. 基于视觉引导的全向移动机器人对接机构控制系统及方法

7. 一种基于视觉的模块化平台相对位姿估计系统

8. 一种基于点间距离的三维拉伸体分析与生成方法及系统

9. 基于回环路网随机树的最优路径实时规划方法

10. 基于三维视觉信息的叶轮叶片焊接路径规划方法及系统

11. 一种获取焊缝点云信息的焊接机器人系统及方法

12. 一种可变构型的全向移动仿生四足机器人

13. 一种近距人机协作环境下机械臂规避人体方法及系统

14. 基于三维视觉信息的网格结构工件焊缝定位方法及系统

15. 一种液压驱动的两自由度机器人关节总成

16. 一种基于DMP的机器人螺栓旋拧方法及系统

17. 一种电驱动四足机器人的控制系统

18. 人机协作中人体安全评估方法及系统

19. 一种基于张拉整体结构的冗余机械臂

20. 目标物点云特征线面提取方法及系统

21. 人机协作中人体实时室内定位与运动姿态捕捉方法与系统

22. 基于力反馈的轮式对接机器人速度匹配控制系统及方法

23. 一种铆钉料仓、自冲铆枪及铆接机器人

24. 一种电驱动四足机器人分布式控制系统

25. 一种快速渐进最优的机械臂避障路径规划方法

26. 一种滑移转向模块化机器人的自主对接控制方法

27. 一种基于张拉整体结构的多自由度可变刚度机器人关节及其工作方法

28. 一种铆钉送进装置及方法

29. 一种带弹簧储能的连杆式机械腿及机器人

30. 基于时间优化的多机器人复杂交错轨迹规划方法及系统

31. 一种自重构模块化移动机器人前后连接机构及机器人

32. 一种四足机器人分布式高实时性控制系统及方法

33. 基于EtherCAT的机器人单腿高实时性控制系统

34. 一种姿态检测系统中不含重力加速度的欧拉角求解方法

35. 一种基于欧拉角的姿态测量算法中避免万向节死锁的方法

36. 一种姿态检测系统中初始姿态自动标定方法及系统

37. 一种手持式空间复杂曲线焊接轨迹坐标测量仪及测量方法

38. 一种手持式空间物体表面坐标测量仪及测量方法

39. 一种可重构移动机器人对接装置

40. 一种基于健侧生物电控的智能外骨骼康复机械手及方法

41. 一种具有力反馈机制的外骨骼康复机械手及方法

42. 一种五指独立运动的外骨骼康复机械手装置及方法

43. 一种姿态检测系统中不含重力加速度的欧拉角求解方法

Research project

1. 大口径油气管道柔性焊接机器人关键技术与应用示范项目焊缝缺陷自动补偿及自适应控制策略与焊接机器人智能控制集成研究, 2024/07/25-2026/11/30

2. 油气管道全位置焊接工艺自适应控制研究, 2023/12/01-2026/11/30

3. 协作机器人人机多维度交互安全测评技术, 2023/12/01-2026/11/30

4. 基于机械臂方案的接触网模拟装置试制加工, 2024/01/22-2024/07/31

5. 复杂地形下多机器人异构仿生集群协同运输控制技术研究, 2023/08/24-2027/12/31

6. 山东大学口腔智能医学研究工作室, 2023/01/01-2025/12/30

7. 基于Beatlebot移动机器人的群机控制开发, 2023/06/09-2024/06/09

8. (包干项目)仿生腿/臂机器人, 2022/11/01-2025/12/30

9. PC构件自动抹面机器人系统的研发及其应用关键技术研究, 2023/01/01-2025/12/31

10. 基于超声悬浮的晶圆自旋驱动机理及转角调控策略研究, 2022/01/01-2023/12/31

11. 自驱动声浮移动机器人构型优化与流固-声振双重耦合建模研究, 2022/01/01-2023/12/31

12. 基于增强现实与自然交互的共融机器人技能传递技术, 2020/02/20-2021/12/31

13. 面向康养服务机器人的人-机-环境共融基础理论与关键技术, 2019/11/18-2024/12/31

14. 基于能量优化的四足机器人分布柔顺驱动机理及控制策略研究, 2019/08/16-2023/12/31

15. 人体碰撞安全评估系统研制, 2018/01/01-2019/12/31

16. 面向装配作业的人机协作型双臂七自由度机器人的开发, 2017/11/01-2020/06/30

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