智能机器人设计与机电控制

智能机器人设计与机电控制

医疗手术机器人、内镜控制与图像引导手术机器人、机器人灵巧手与灵巧操作、模块化机器人
lihaiyuan@bupt.edu.cn

Publications

Research field

[CV in English]

Surgical robot

  • Flexible robot for endoscopic surgery, e.g. robotic thyroid surgery
  • Ultrasound guided robot, ultrasound and robot calibration, registration and planning control as well as robot design for prostate, liver

Robot hand and robot manipulation

  • Reconfigurable robot hand
  • Grasp

Modular robotics

  • Self-assembling robot, swarm robot with mechanical interconnection or autonomous docking
  • Self-reconfigurable robot

2022

  • Li Haiyuan*, Cui Linlin, Zhang Yuhang, Zhang Qinjian and Wang Haoyu Wang. A Modular and Extended Positioning Robotic System for Percutaneous Puncture Surgery. 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2022.

  • Li Haiyuan*, Wang Haoyu, Zhang Bin and Zhang Qinjian Zhang. Path Planning and Control for Modular Self-assembling Robots on Rough Terrain. The 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2022.

  • Yu Hongze, Li Haiyuan*, Wang Yan. Teleoperation of a dexterous hand using a wearable hand. The Seventh International Conference on Cognitive Systems and Information Processing (ICCSIP 2022), 2022.

  • Li, Haiyuan, Haoyu Wang, Linlin Cui, Jiake Li, Qi Wei, and Jiqiang Xia. Design and Experiments of a Compact Self-Assembling Mobile Modular Robot with Joint Actuation and Onboard Visual-Based Perception. Applied Sciences,2022, 12(6): 3050. [fulltext]

  • Li Xingshuai, Zhang Qinjian, Li Haiyuan*, Liu Baoguo and He Qingqing, “Kinematics Modeling and Simulation of a Flexible Surgical Robotic Instrument with a Multi-joint Wrist,” 2022 12th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), 2022, pp. 821-826.

  • Zhang Qinjian, Zhang Xiangyan, Li Haiyuan*. A Grasp Pose Detection Network Based on the DeepLabv3+ Semantic Segmentation Model. In: Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science, 2022, vol 13458.

  • Zhang Qinjian, Wang Pengcheng, Li Haiyuan*, Li Xingshuai. Design, Modeling and Experiments of a Modular Robotic Finger. In: Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science, 2022, vol 13455.

2021

  • Haiyuan Li*, Linlin Cui, Yuxuan Qiu, Lutao Yan, Qinjian Zhang. System Design and Simulation Experiments of a Virtual Reality Based Tele-operated Surgical Robot System. The 2021 IEEE International Conference on Robotics and Biomimetics(IEEE), Sanya, China, December 6-10.

  • Wu Zhang#, Haiyuan Li#, Linlin Cui, Haiyang Li, Xiangyan Zhang, Shanxiang Fang, Qinjian Zhang*. Research progress and development trend of surgical robot and surgical instrument arm. The international Journal of Medical Robotics and Computer Assisted Surgery, 7(5):e2309, July 6, 2021. doi: 10.1002/rcs.2309 [fulltext] (A top cited article 2022) （A top downloaded article）

  • Dai Xiaofeng#, Li Haiyuan#. Ning Meng. Plasma Robot Engineering: The Next Generation of Precision Disease Management. Annals of Biomedical Engineering, 49: 1593–1597, June 3, 2021. [fulltext]

  • Xiangyan Zhang, Haiyuan Li, Bin Zhang, Qinjian Zhang and Yingpeng Cai. Kinematics Analysis and Grasping Simulation of a Humanoid Underactuated Dexterous Hand. The 2021 IEEE International Conference on Robotics and Biomimetics(IEEE), Sanya, China, December 6-10, 2021.

  • Fei Wang, Duanling Li*, Haiyuan Li. Mechanism Design and Kinematic Analysis of a Robotic Modular Finger and Reconfigurable Hand. The 2021 IEEE International Conference on Robotics and Biomimetics(IEEE), Sanya, China, December 6-10, 2021.

  • Yuting Xie, Xiaowei Chi, Haiyuan Li*, Fuwen Wang, Lutao Yan, Bin Zhang, and Qinjian Zhang. Coal and Gangue Recognition Method Based on Local Texture Classification Network for Robot Picking. Applied Sciences 11, no. 23: 11495, 2021.[fulltext]

  • 严鲁涛, 王琦, 李海源, 李端玲, 夏继强. 基于SMA驱动的连续体手术机器人研究综述. 机械工程学报, 2021, 57 (11): 138-152. doi: 10.3901/JME.2021.11.138

    Before 2021

  • 李海源, 刘畅, 严鲁涛, 张斌, 李端玲, 张勤俭. 上肢外骨骼机器人的阻抗控制与关节试验研究. 机械工程学报. 2020, 56(19): 200-209.DOI: 10.3901/JME.2020.19.200

  • Chang Liu, Haiyuan Li, Qinjian Zhang. Configuration Comparison and Design of an Upper Limb Exoskeleton for Robot Teleoperation [C].IEEE International Conference on Mechatronics & Automation. IEEE, 921-926, 2019.

  • Li Haiyuan, Wang Tianmiao, Gregory Chirikjian. Simultaneous Hand-Eye and Robot-World Calibration by Solving the AX=YB Problem without Correspondence [J]. IEEE Robotics and Automation Letters, 1(1): 145-152, 2016. [fulltext]

  • Qianli Ma, Haiyuan Li, Gregory Chirikjian. New Probabilistic Approaches to the AX = XB Hand-Eye Calibration without Correspondence. The 2016 IEEE Intl. Conf. on Robotics and Automation (ICRA), 4365-71, 2016. [fulltext]

  • Li Haiyuan, Wang Tianmiao, Wei Hongxing, and Meng Cai. Response Strategy to Environmental Cues for Modular Robots with Self-Assembly from Swarm to Articulated Robots [J]. Journal of Intelligent & Robotic Systems, Springer Netherlands, 81(3-4): 359-376, 2016. [fulltext]

  • Wei Hongxing, Li Haiyuan, Guan Yong, and Li Youdong. A dynamics based two-stage path model for the docking navigation of a self-assembly modular robot (Sambot) [J]. Robotica, 34(7): 1517-1528, 2016.

  • Cai Meng, Weidong Xu, Haiyuan Li, Huan Zhang, and Dong Xu. A new design of cellular soft continuum manipulator based on beehive-inspired modular structure [J]. International Journal of Advanced Robotic Systems, 2017.

  • Li Haiyuan, Wei Hongxing, Xiao Jiangyang, and Wang Tianmiao. Co-evolution framework of swarm self-assembly robots [J]. Neurocomputing, 148: 112-121, 2015.

  • Wang Tianmiao, Li Haiyuan, Meng Cai. Collective Grasping for Non-cooperative Objects using Modular Self-reconfigurable Robots. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), German, 3296-3301, 2015.

  • Li Haiyuan, Wang Tianmiao, Gregory S. Chirikjian. Self-assembly Planning of a Shape by Regular Modular Robots. Intl. Conf. on Reconfigurable Mechanisms and Robots (REMAR), Beijing, China, 36: 867-877, 2015.

  • Meng Cai, Xu Weidong, Li Haiyuan, Wang Tianmiao. A Novel Soft Manipulator Based on Beehive Structure. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), German, 2342-7, 2015.

  • Li Haiyuan, Wang Tianmiao, Meng Cai, Gao Zhenxi, Zhang Yani, Xu Weidong. Towards Continuum Robotics: A Preliminary Curve Fitting Approach for Modular Self-Reconfigurable Robots. IFToMM Asian Conference on Mechanism and Machine Science, 2014.

  • Wang Tianmiao, Li Haiyuan, and Meng Cai. Self-Assembling for Swarm Modular Robots Using MIMO Fuzzy Control [J]. Advances in Mechanical Engineering, Article ID 598647, 2013.

  • Wei Hongxing, Cui Yuanyang, Li Haiyuan, Tan Jindong. Kinematics and the Implementation of a Modular Caterpillar Robot in Trapezoidal Wave Locomotion [J]. International Journal of Advanced Robotic Systems, 10(1), 2013.

  • Wei Hongxing, Li Haiyuan, Tan Jindong, and Wang Tianmiao. Self-assembly Control and Experiments in Swarm Modular Robots [J]. Science China Series E: Technological Science, 55(3): 1118-1131, 2012.

  • Wei Hongxing, Li Haiyuan, Chen Youdong, and Tan Jindong. A General Framework Integrating Exploration, Self-assembly and Locomotion Control for Swarm Robots. IEEE Intl. Conf. on Robotics and Biomimetics (ROBIO), Phuket, Thailand, 871-876, 2011.

  • Wei Hongxing, Li Haiyuan, Chen Youdong, and Tan Jindong. Self-assembly and Locomotion of Diverse Structures for Swarm Robots on Adaption Application. IEEE Intl. Conf. on Robotics and Biomimetics (ROBIO), Phuket, Thailand, 2409-2410, 2011.

  • Wei Hongxing, Huang Yizhou, Li Haiyuan, and Tan Jindong. Simulation and Experiments of the Simultaneous Self-Assembly for Modular Swarm Robots. The Second Intl. Conf. on Swarm Intelligence (ICSI), 118-127, 2011.

  • Wei Hongxing, Cai Yingpeng, Li Haiyuan, Li Dezhong and Wang Tianmiao. Sambot: A self-assembly modular robot for swarm robot. IEEE Intl. Conf. on Robotics and Automation (ICRA), Alaska, USA, 66-71, 2010.

  • Wei Hongxing, Li Haiyuan and Wang Tianmiao. An Evolutionary Swarm Self-assembly Robot: from Concept to Prototype. IEEE Intl. Conf. on Robotics and Biomimetics (ROBIO), Tianjin, China, 104-109, 2010.

  • 李海源, 张兵, 刘军虎等. 面向月球站作业的自重构模块化机器人系统. 第五届载人航天学术大会, 西安, 2018.

  • 魏洪兴, 李海源. 用于星球探测的自组装群体模块化机器人. 中国空间机械工程技术高峰论坛论文集, 336-343, 2011.

  • 魏洪兴, 李海源. 空间探测的自组装群体模块化机器人[J]. 航天器工程, 20(4):30-37, 2011.

  • 邹 莹, 魏洪兴, 李海源, 李仕毅, 王田苗. 模块化机器人中间件研究进展[J]. 机器人技术与应用, 4-8, 2009.

专利

  • 一种可组装机器人.

  • 一种用于机器人快速连接分离的对接机构.

  • 具有自组装特征的单体自变形机器人.

  • 一种足球机器人.