梁斌 教授

导航与控制研究所  所长

通信地址:北京清华大学自动化系  邮政编码:100084
联系电话:010-62789979  Fax: 010-62786911
Email:bliang@tsinghua.edu.cn

教育背景

1985年5月-1991年1月 保送西北工业大学第一届“教学改革试点班”,本硕连读,获学士和硕士学位

1991年2月-1994年12月 清华大学精密仪器系,获博士学位

工作履历

1994年12月-2003年3月 中国空间技术研究院,博士后、副研究员、研究员

2003年3月-2007年11月 航天科技集团鑫诺卫星通讯公司,研究员,副总工程师

2007年11月-至今 清华大学自动化系,教授,博士生导师

学术兼职

1997年6月-2016年6月 863专家组专家

2007年6月-2016年6月 863智能机器人重大项目专家组组长

2012年1月-至今 清华大学深圳研究生院,双基地教授

研究领域

1.智能机器人及遥操作

2.智能传感技术

3.智能测试与测量技术

4.航天控制

研究概况

专业研究方向是空间智能系统及机器人技术,作为项目负责人的研究项目主要有:
1.舱外自由移动机器人系统研究

2.空间机器人双臂协调柔顺控制研究

3.异地遥操作实验系统

4.空间机器人地面演示系统试验及应用研究

5.空间机器人系统研究

6.月球表面探测机器人方案研究

7.利用吊丝配重系统进行空间站舱内、舱外机器人技术研究

8.空间站舱内机器人演示系统研究

9.基于DSP的空间机器人总线控制

奖励与荣誉

2015年获国家科技进步特等奖

2014年获军队科技进步一等奖

2013年获中国精品科技期刊顶尖学术论文F5000论文奖

2007年获军队科技进步一等奖

1997年获国家教育委员会科学进步三等奖

学术成果

代表论文:
[1]Xu Wenfu , Zhang Jintao, Liang Bin, Li Bing, “Singularity Analysis and Avoidance for Robot Manipulators with Non-Spherical Wrists”, IEEE Transactions on Industrial Electronics, Vol.63, NO.1, pp.277-290 2016.

[2]Zhang Chen, Bin Liang, and Tao Zhang, “A Self-Adjusting Compliant Bilateral Control Scheme for Time-Delay Teleoperation in Constrained Environment”, Acta Astronautica, 2016. (DOI: 10.1016/ j.actaastro.2016.01.017)

[3]Zhang Jiaming, Li Qing, Cheng Nong, Liang Bin, “Adaptive Dynamic Surface Control for Unmanned Aerial Vehicles Based on Attractive Manifolds”, Journal of Guidance, Control, and Dynamics, Vol.23, NO.6, pp.1779-1785, 2013.

[4]Xu Wenfu, Liang Bin, Li Bing, Xu Yangsheng, “A universal on­orbit servicing system used in the geostationary orbit”, Advances in Space Research, Vol.48, NO.1, pp.95-119 2011.

[5]Xu Wenfu, Liang Bin, Xu Yangsheng, “Practical approaches to handle the singularities of a wrist­partitioned space manipulator”, Acta Astronautica, Vol.68, NO.1-2, pp.269-300 2011.

[6]Yang Jun, Liang Bin, Zhang Tao, Song Jingyan, “A Novel Systematic Error Compensation Algorithm Based on Least Squares Support Vector Regression for Star Sensor Image Centroid Estimation”, Sensors, Vol.11, NO.8, pp.7341­7363 2011.

[7]Huang LiangWei, Liang Bin, Zhang Tao, Zhang CaiHong, , “Navigation using binary pulsars”, Science China Physics, Mechanics & Astronomy, Vol.55, NO.3, pp.527-539 2012.

[8]Huang LiangWei, Liang Bin, Zhang Tao, “Pulse phase and doppler frequency estimation of X­ray pulsars under conditions of spacecraft and binary motion and its application in navigation”, Science China Physics, Mechanics & Astronomy,Vol.56, NO.4, pp.848­858, 2013.

[9]Chen Zhang, Liang Bin, Zhang Tao, Wang, Xueqian, “Bilateral Teleoperation in Cartesian Space with Time­Varying Delay”, International Journal of Advanced Robotic Systems, Vol.9, 2012.

[10]Xu Wenfu, Liang Bin, Xu Yangsheng, “Survey of modeling, planning, and ground verification of space robotic systems”, Acta Astronautica, Vol.68, NO.11-12, pp.1629-1649 2011.

[11]He Yong, Liang Bin, Xu Wenfu, “Study on the stability of Tethered Satellite System”, Acta Astronautica, Vol.68, NO.11-12, pp.1964-1972 2011.

[12]Du Xiaodong, Liang Bin, Xu Wenfu, Qiu Yue, “Pose measurement of large non­cooperative satellite based on collaborative cameras”, Acta Astronautica, Vol.68, NO.11-12, pp.2047­2065, 2011.

[13]Liu Houde, Liang Bin, Xu Wenfu, Di Zhang, Wang Xueqian, A Ground Experiment System of A Free-Floating Robot for Fine Manipulation, International Journal of Advaced Robotic Systems, Vol.9, 2012.

[14]Wenfu Xu, Jianqing Peng, Bin Liang, Zonggao Mu. "A Hybrid Modeling and Analysis Method for Dynamic Coupling of Space Robots". IEEE Transactions on Aerospace and Electronic Systems, Vol.52, NO.1 pp.85-98 2016.

[15]Chen Zhang, Liang Bin, Zhang Tao, Zhang Bo, Song Haitao, “An adaptive force reflection scheme for bilateral teleoperation”, Robotica, Vol.33, NO.7 pp.1471-1490 2015.

[16]Zhang Jiaming, Li Qing, Cheng Nong, Liang Bin, “Non­linear flight control for unmanned aerial vehicles using adaptive backstepping based on invariant manifolds”, Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, Vol.227, NO.G1 pp.33-44 2013.

[17]Xu Wenfu, Liu Yu, Liang Bin, Wang Xueqian, “Unified multi­domain modelling and simulation of space robot for capturing a moving target”, Multibody System Dynamics, Vol.23, NO.3 pp. 293­331 2010.

[18]Xu Wenfu, Li Cheng, Liang Bin, Xu Yangsheng, “Target berthing and base reorientation of free­floating space robotic system after capturing”, Acta Astronautica, Vol.64, NO.2-3 pp.109-126 2008.

[19]B. Liang, C. Li, and W. Xu, “Autonomous Planning and Experiments of Space Robot Based on Hand-eye Measurement”, IEEE International Conference on Information Acquisition, pp. 563-568, 2007.

[20]B. Liang, C. Li, L. Xue, and W. Qiang, “A Chinese small intelligent space robotic system for on-orbit servicing”, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4602-4607, 2006.

[21]B. Liang, Y. Xu, and M. Bergerman, “Mapping A Space Manipulator to A Dynamically Equivalent Manipulators”, ASME Trans on Dynamics, Measurement, and Control, Vol.120, pp.1-7, 1998.

[22]B. Liang, Y. Xu, M. Bergerman, and G. Li, “Dynamically equivalent manipulator for space manipulator system”, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems, pp. 1493-1499, 1997.

[23]W. Xu, B. Liang, et al., “Autonomous Rendezvous and Robotic Capturing of Non-cooperative Target in Space”, Robotica, Vol. 28, No. 5, pp. 705-718, 2010.

[24]W. Xu, C. Li, X. Wang, B. Liang, et al., “Study On Non-holonomic Cartesian Path Planning of Free-Floating Space Robotic System”, Advanced Robotics, 23(1-2), pp. 113–143, 2009.

[25]G. Zhai, Y. Qiu, B. Liang, and C. Li, “System dynamics and feed forward control for tether-net space robot system”, International Journal of Advanced Robotic Systems, Vol.  6, No. 2, pp. 137-144, 2009.

[26]G. Zhai, Y. Qiu, B. Liang, and C. Li, “On-orbit capture with flexible tether–net system“, Acta Astronautica, pp. 613-623, 2009.

[27]W. Xu, B. Liang, C. Li, et al., “Path Planning of Free-Floating Robot in Cartesin Space Using Direct Kinematics”, International Journal of Advanced Robotic System, Vol. 4, No. 1, pp. 17-26, 2007.

[28]P. Huang, Y. Ou, Y. Xu, W. Xu, and B. Liang, “Modeling Human Intelligence for Robotic Capture of Space Objects”, Book Chapter for “Intelligence for Space Robotics”, TSI Press Series, 2006.

[29]P. Huang, Y. Xu, and B. Liang, “Tracking Trajectory Planning of Space Manipulator for Capturing Operation”, International Journal of Advanced Robotic Systems, Vol. 3, No. 3, pp.211-218, 2006.

[30]P. Huang, W. Xu, Y. Xu, and B. Liang. “Learning Control for Space Robotic Operation using Support Vector Machines”. Lecture Notes in Computer Science, pp. 1208-1217, 2006.

[31]W. Xu, B. Liang, et al., “A Space Robotic System Used for the On-Orbit Servicing in the Geostationary Orbit”, The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei International Convention Center, Taipei, Taiwan, 2010.

[32]W. Xu, B. Liang, C. Li, et al., “Autonomous Target Capturing of Free-floating Space Robot: Theory and Experiments”, Robotica, Vol. 27, No. 2, pp. 425–445, 2009.

[33]Y. He, B. Liang, W. Xu, and C. Li, “The research of real-time estimation method on tether parameters for tethered satellite”, 2009 IEEE International Conference on Information and Automation, ICIA 2009, Zhuhai, Macau, China, pp.148-153, 2009.

[34]W. Xu, Y. Liu, B. Liang, et al., “Autonomous Path Planning and Experiment Study of Free-floating Space Robot for Target Capturing”, Journal of Intelligent and Robotic Systems, Vol. 51, No. 3, pp. 303-331, 2008.

[35]W. Xu, B. Liang, C. Li, and Y. Liu, “The Research Achievements and Future Applications of Space Robotic System”, Book Chapter (Chapter 3, pp.77-124) for  “Progress in Autonomous Robot Research”, pp.77-124, Nova Science Publishers, Inc., 2008.

[36]S. Hu, L. Xue, W. Xu, W. Qiang, and B. Liang, “Trajectory Planning of Space Robot System for Reorientation after Capturing Target”, ISSCAA2008.

[37]X. Wang, W. Xu, B. Liang, and C. Li, “General scheme of teleoperation for space robot”, Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Xi'an, China, pp. 341-346, 2008.

[38]P. Huang, Z. Liu, G. Zhao, W. Xu, and B. Liang, “A ground teleoperation experimental system of space robot using hybrid approach”, IEEE International Conference on Integration Technology , Shenzhen, China, 2007.

[39]W. Xu,B. Liang, W. Qiang, et al., “Trajectory Planning of Space Robot System for Target Berthing and Reorientation after Capturing”, International Program Committee of the 6th World Congress on Intelligent Control Automation (WCICA06), pp. 8981~8985, Dalian, China, 2006.

[40]W. Xu, B. Liang, C. Li, W. Qiang, et al., “Non-holonomic Path Planning of Free-Floating Robot Based On Genetic Algorithm”, IEEE International Conference on Robotics and Biomimetics(Robio 2006), pp. 1471-1476, Kunming, China, 2006.

[41]P. Huang, W. Xu, B. Liang, et al., “Configuration Control of Space Robots for Impact Minimization”, IEEE International Conference on Robotics and Biomimetics, pp.357-362, Kunming, China, 2006.

[42]C. Li, W. Xu, B. Liang, and W. Qiang, “An Experiment System of Space Robot for Capturing Target”, Proceedings of 6th International Conference on Robotics and Applications(RA2006), pp. 13-18, Honolulu, HI, 2006.

[43]C. Li, B. Liang, and W. Xu, “Autonomous Trajectory Planning of Free-floating Robot for Capturing Space Target”, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1008~1013, Beijing, China, 2006.

[44]P. Huang, J. Yan, Y. Xu, W. Xu, and B. Liang, “Genetic Algorithms-Based Minimum Torque Path Planning for Space Manipulator”, Proceedings of the 6th World Congress on Intelligent Control and Automation (WICIA2006), pp. 3575-3579, 2006.

[45]W. Xu, B. Liang, W. Qiang, C. Li, et al., “Study of Path Planning of Free-Floating Space Robot in Cartesian Space”, Proceedings of 6th International Conference on Robotics and Applications (ICRA 2005), pp. 52-57, Cambridge, USA, 2005.   


主要课程:

空间机器人技术

太空机器人技术研讨