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陈卫东

常务副院长

研究方向

机器人感知与控制、多机器人系统、手术机器人、辅助机器人
 

主要经历
1990,1993年于哈尔滨工业大学控制工程系获得学士和硕士学位。1996年于哈工大机器人研究所获得博士学位。后进入上海交通大学自动控制博士后流动站,1998年出站留校任教。现任上海交通大学电子信息与电气工程学院自动化系长聘教授,博士生导师,上海交通大学医疗机器人研究院常务副院长。

 

2003年至2004年任美国俄亥俄州立大学电气工程系访问副教授,2012年7月至9月任瑞士苏黎世大学信息科学系人工智能实验室访问教授,2016年4月至2019年3月任日本电气通信大学脑科学生命支持研究中心访问教授。2004年当选上海市曙光学者,2007年当选教育部新世纪优秀人才。2008年获上海交通大学SMC优秀青年教师奖。
 

近年来,主持国家自然科学基金联合基金重点项目1项,面上项目4项,国家863计划重点项目课题1项,ITER计划专项课题1项,国家重点研发计划重点专项课题1项,另作为副组长承担国家863计划项目课题4项。在国内外期刊和会议发表论文200余篇,已授权国家发明专利38项。
 

研究成果智能轮椅入选2010年上海世博会展出,陪护机器人作为国家863计划先进制造技术领域代表性成果入选“十一五”国家重大科技成就展。成果被《Nature》、国际权威技术评估机构WTEC和美国NSF于2012年发布的《Human-Robot Interaction》技术评估报告引用。2004年和2017年获上海市教学成果一等奖,2008年获上海市科技进步奖三等奖,2011年获IEEE ICRA大会服务机器人最佳论文奖,在国内外机器人领域竞赛中多次获得冠军。
 

科研项目
1、国家自然科学基金联合基金重点项目:基于视觉的室内移动机器人定位与导航关键技术研究

2、国家重点研发计划重点专项课题:炼钢作业机器人系统共性关键技术研究

3、国家自然科学基金项目:动态环境下的移动机器人长期定位方法

4、国家科技惠民计划专项项目:上海市残障人群康复辅助器具技术集成及应用示范

5、国际热核聚变实验堆(ITER)计划专项课题:托卡马克遥操作柔性内窥机械臂研究

6、国家863计划先进制造技术领域重点项目课题:机器人模块化单元技术

7、国家自然科学基金项目:复杂环境下智能轮椅的感知与控制

8、国家自然科学基金重点项目:基于远程通信和传感器网络的多自主体系统的协调控制

9、国家863计划重点项目:助老/助残机器人概念样机研究与开发
 

文章发表
1、Behnam Irani, Jingchuan Wang and Weidong Chen, “A localizability constraint-based path planning method for autonomous vehicles,” IEEE Trans. on Intelligent Transportation Systems, accepted, 2018. DOI: 10.1109/TITS.2018.2868377.

 

2、Zhe Liu, Weidong Chen, Hesheng Wang, Yun-hui Liu, Yi Shen and Xiangyu Fu, “A self-repairing algorithm with optimal repair path for maintaining motion synchronization of mobile robot network,” IEEE Transactions on Systems, Man and Cybernetics: Systems, accepted, 2018. DOI 10.1109/TSMC.2017.2726104.
 

3、Fan Xu, Hesheng Wang, Kwok W. Samuel Au, Weidong Chen, and Yanzi Miao, “Underwater dynamic modeling for a cable-driven soft robot arm,” IEEE/ASME Transactions on Mechatronics, accepted, 2018. DOI 10.1109/TMECH.2018.2872972.
 

4、Fan Xu, Hesheng Wang, Weidong Chen, and Jingchuan Wang, “Adaptive visual servoing control for an underwater soft robot,” Assembly Automation, 38(5): 669-677, 2018.
 

5、Hesheng Wang, Dongliang Zheng, Jingchuan Wang, Weidong Chen, and Jianjun Yuan, “Ego-motion estimation of a quadrotor based on nonlinear observer,” IEEE/ASME Trans. on Mechatronics, 23(3): 1138-1147, 2018.
 

6、Hesheng Wang, Bohan Yang, Jingchuan Wang, Xinwu Liang, Weidong Chen, and Yun-Hui Liu, “Adaptive visual servoing of contour features”, IEEE/ASME Trans. on Mechatronics, 23(2): 811-822, 2018.
 

7、Xinwu Liang, Hesheng Wang, Yun-hui Liu, Weidong Chen, and Zhongliang Jing, “Image-based position control of mobile robots with a completely unknown fixed camera,” IEEE Trans. on Automatic Control, 63(9): 3016-3023, 2018.
 

8、Dongliang Zheng, Hesheng Wang, Weidong Chen, and Yong Wang, “Planning and tracking in image space for image-based visual servoing of a quadrotor,” IEEE Transactions on Industrial Electronics, 65(4): 3376-3385, 2018.
 

9、Xinwu Liang, Hesheng Wang, Yun-Hui Liu, Weidong Chen, and Tao Liu, “Formation control of nonholonomic mobile robots without position and velocity measurements,” IEEE Transactions on Robotics (T-RO), 34(2): 434-446, 2018.
 

10、Hesheng Wang, Jingchuan Wang, Weidong Chen, and Lifei Xu, “Automatic illumination planning for robot vison inspection system,” Neurocomputing, 275: 19-28, 2018.
 

11、Zhixuan Wei, Weidong Chen, Hesheng Wang, and Jingchuan Wang, “Manipulator motion planning using flexible obstacle avoidance based on model learning,” International Journal of Advanced Robotic Systems, 14(3): 1-12, 2017.
 

12、Hesheng Wang, Dejun Guo, Hao Xu, Weidong Chen, Tao Liu and Kam K. Leang “Eye-in-hand tracking control of a free-floating space manipulator,” IEEE Transactions on Aerospace and Electronic Systems, 53(4): 1855-1865, 2017.
 

13、Hesheng Wang, Dejun Guo, Xinwu Liang, Weidong Chen, Guoqiang Hu, and Kam K. Leang, “Adaptive vision-based leader-follower formation control of mobile robots,” IEEE Trans. on Industrial Electronics, 64(4): 2893-2902, 2017.

14、Dongliang Zheng, Hesheng Wang, Jingchuan Wang, Siheng Chen, Weidong Chen and Xinwu Liang, “Image-based visual servoing of a quadrotor using virtual camera approach,” IEEE/ASME Trans. on Mechatronics, 22(2): 972-982, 2017.
 

15、Hesheng Wang, Runxi Zhang, Weidong Chen, Xiaozhou Wang, Rolf Pfeifer, “A cable-driven soft robot surgical system for cardiothoracic endoscopic surgery: preclinical tests in animals,” Surgical Endoscopy, 31(8):3152-3158, 2017.
 

16、Hesheng Wang, Chao Wang, Weidong Chen, Xinwu Liang and Yuting Liu, “Three dimensional dynamics for cable-driven soft manipulator,” IEEE/ASME Trans. on Mechatronics, 22(1): 18-28, 2017.
 

17、Hesheng Wang, Bohan Yang, Yuting Liu, Weidong Chen, Xinwu Liang, and Rolf Pfeifer, “Visual servoing of soft robot manipulator in constrained environments with an adaptive controller,” IEEE/ASME Trans. on Mechatronics, 22(1): 41-50, 2017.
 

18、Hesheng Wang, Bohan Yang, Weidong Chen, “Unknown constrained mechanisms operation based on dynamic interactive control,” CAAI Trans. on Intelligence Technology, 1(3): 259-271, 2016.
 

19、Hesheng Wang, Runxi Zhang, Weidong Chen, Xinwu Liang, and Rolf Pfeifer, “Shape detection algorithm for soft manipulator based on fiber bragg gratings,” IEEE/ASME Trans. on Mechatronics, 21(6): 2977-2982, 2016.
 

20、Zhe Liu, Hesheng Wang, Weidong Chen, Junzhi Yu, Jian Chen, “An incidental delivery based method for resolving multirobot pair-wised transportation problems,” IEEE Trans. on Intelligent Transportation Systems, 17(7): 1852-1866, 2016. 
 

21、Xinwu Liang, Hesheng Wang, Yun-hui Liu, Weidong Chen, and Guoqiang Hu, “Adaptive task-space cooperative tracking control of networked robotic manipulators without task-space velocity measurements”, IEEE Trans. on Cybernetics, 46(10): 2386-2398, 2016. 
 

22、Xinwu. Liang, Yun-hui Liu, Hesheng Wang, Weidong Chen, Kexin Xing, and Tao Liu, “Leader-following formation tracking control of mobile robots without direct position measurements”, IEEE Trans. on Automatic Control, 61(12): 4131-4137, 2016.
 

23、Zhe Liu, Weidong Chen, Junguo Lu, Hesheng Wang, and Jingchuan Wang, “Formation control of mobile robots using distributed controller with sampled-data and communication delays,” IEEE Trans. on Control Systems Technology, 24(6): 2125-2132, 2016.
 

24、Xinwu Liang, Hesheng Wang, Weidong Chen, Dejun Guo, and Tao Liu, “Adaptive image-based trajectory tracking control of wheeled mobile robots with an uncalibrated fixed camera,” IEEE Trans. on Control Systems Technology, 23(6): 2266-2282, 2015.
 

25、Xinwu Liang, Hesheng Wang, Yun-hui Liu, Weidong Chen, and Jie Zhao, “A unified design method for adaptive visual tracking control of robots with eye-in-hand/fixed camera configuration,” Automatica, 59: 97-105, 2015.
 

26、Jingchuan Wang, Li Liu, Zhe Liu, Weidong Chen, “Multilayer matching SLAM for large-scale and spacious environments,” International Journal of Advanced Robotic Systems, 12: 124, 2015.
 

27、Nevrez Imamoglu, Enrique Dorronzoro, Zhixuan Wei, Huangjun Shi, Masashi Sekine, Jose Gonzalez, Dong-Yun Gu, Weidong Chen and Wenwei Yu, "Development of robust behaviour recognition for an at-home biomonitoring robot with assistance of subject localization and enhanced visual tracking," The Scientific World Journal, 2014.
 

28、Yong Wang, Weidong Chen, Jingchuan Wang and Hesheng Wang, “Active global localization based on localizability for mobile robots,” Robotica, 33(8): 1609-1627, 2015.
 

29、Yong Wang, Weidong Chen, Jingchuan Wang, “Map-based localization for mobile robots in high-occluded and dynamic environments,” Industrial Robot: An International Journal, 41(3): 241-252, 2014.
 

30、Xinwu Liang, Hesheng Wang, Weidong Chen, Yun-hui Liu, “Uncalibrated image-based visual servoing of rigid-link electrically driven robotic manipulators,” Asian Journal of Control, 16(3): 714-728, 2014.
 

31、Yunhui Liu, Hesheng Wang, Weidong Chen, Dongxiang Zhou, “Adaptive visual servoing using common image features with unknown geometric parameters,” Automatica, 49(8): 2453-2460, 2013. 
 

32、Zhixuan Wei, Weidong Chen, Jingchuan Wang, “Semantic mapping for smart wheelchair using RGB-D camera,” Journal of Medical Imaging and Health Informatics, 3(1): 94-100, 2013.
 

33、Yi Zhang, Weidong Chen, Steven Su, and Branko Celle, “Nonlinear modelling and control for heart rate response to exercise,” International Journal of Bioinformatics Research and Applications, 8(5-6): 397-416, 2012.
 

34、Hesheng Wang, Maokiu Jiang, Weidong Chen and Yun-hui Liu, “Visual servoing of robots with uncalibrated robot and camera parameters,” Mechatronics, 22(6): 661-668, 2012.
 

35、Hesheng Wang, Yun-hui Liu, and Weidong Chen, “Visual tracking of robots in uncalibrated environments,” Mechatronics, 22(4): 390-397, 2012.
 

36、Fanwei Kong, Liang Yuan, Yuan F. Zheng, and Weidong Chen, “Automatic liquid handling for life science: a critical review of the current state of the art,” Journal of Laboratory Automation, 17(3): 169-186, June 2012.
 

37、Yuan F. Zheng and Weidong Chen, “Robot team forming for crystallization of proteins,” Autonomous Robots, 23(1): 69-78, 2007.a

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