基本信息

姓名： 周乐来

性别： 男

民族： 汉族

出生年月： 1983.08

学历： 博士

职称： 教授

导师信息： 硕导，博导

教育及科研工作经历

⟡2020.09至今，永利yl23411no1控制科学与工程学院，教授（破格）

⟡2015.12-2020.08，永利yl23411no1控制科学与工程学院，副教授

⟡2012.01-2013.10，Aalborg University, Denmark，博士后

⟡2011.01-2011.05，University of California Berkeley, USA，访问学者

⟡2008.10-2011.12，Aalborg University, Denmark，博士

⟡2006.09-2008.09，北京航空航天大学，工学硕士

⟡2002.09-2006.07，北京科技大学，工学学士

社会兼职

⟡2024.06-至今，Industrial Robot(SCI期刊，IF：1.8)，副主编

⟡2024.01-至今，Biomimetic Intelligence and Robotics(EI期刊)，副主编

⟡2023.01-至今，“特种机器人设计与控制技术”教育部重点实验室，副主任

⟡2023.05-至今，中国自动化学会智能制造系统与技术专业委员会，委员

⟡2023.01-至今，山东电子学会青年科学家工作委员会，委员

⟡2022.02-2023.02，Actuators，客座编辑

⟡2020.07-至今，中国自动化学会共融机器人专业委员会，委员

⟡2019.07-至今，无人系统技术，期刊青年编委

⟡2017.05-至今，山东电子学会标准化管理委员会，委员

研究方向

机器人技术，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

科研项目

➢2024.01-2027.12，国家自然科学基金面上项目，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，项目负责人

➢2024.01-2025.07，企业委托横向项目，机械臂模拟装置开发，项目负责人

➢2023.12-2026.11，国家重点研发计划“智能机器人”重点专项课题，协作机器人人机多维度交互安全测评技术，课题负责人

➢2023.12-2026.11，国家重点研发计划“智能机器人”重点专项子课题，工艺自适应控制研究，子课题负责人

➢2023.06-2024.06，企业委托横向项目，移动机器人群机控制开发，项目负责人

➢2023.01-2025.12，企业委托横向项目，自动抹面建筑机器人系统研发，项目负责人

➢2023.01-2025.12，山东省杰出青年基金项目，项目负责人

➢2020.01-2023.12，国家自然科学基金共融机器人重点研究项目，腿臂协同移动作业机器人基础理论与关键技术研究，技术负责人

➢2020.01-2023.12，国家自然科学基金面上项目，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，项目负责人

➢2017.07-2019.12，国家重点研发计划课题，人体碰撞安全评估系统研制，项目负责人

➢2017.01-2019.12，国家自然科学基金青年项目，基于旋量理论的变刚度柔顺机械臂建模方法研究，项目负责人

➢2017.06-2020.06，山东省重点研发计划项目，面向装配作业的人机协作型双臂七自由度机器人的开发，课题负责人

奖励与荣誉

[1]2023年，国家一级协会科技创新一等奖

[2]2023年，山东省自然科学基金杰出青年项目获得者

[3]2023年，永利yl23411no1校级教学成果奖二等奖

[4]2023年，陆军装备部“智行先锋2023”优秀论文奖

[5]2023年，山东省自动化学会教学成果奖一等奖（高等教育类）

[6]2023年，山东省自动化学会科技进步一等奖

发表期刊论文

[1]Jingyu Sun,Lelai Zhou, Binghou Geng,YiZhang, and Yibin Li, Leg State Estimation for Quadruped Robot by Using Probabilistic Model with Proprioceptive Feedback,IEEE/ASME Transactions on Mechatronics, accepted, 2024. (SCI Q1区,Impact Factor: 6.1)

[2]Lelai Zhou,Xiaohui Sun, Chen Zhang, Luyang CaoandYibin Li,LiDAR-Based 3-D Glass Detection and Reconstruction in Indoor Environment,IEEE Transactions on Instrumentation and Measurement, vol.73,pp:1-11,2024.(Impact Factor:5.6)

[3]Chen Zhang,Lelai Zhou, and Yibin Li, Pareto Optimal Reconfiguration Planning and Distributed Parallel Motion Control of Mobile Modular Robots,IEEE Transactions on Industrial Electronics, Accept, 2023. (SCI Q1区,Impact Factor: 7.7)

[4]Yuankai Zhang, Yusen Geng, Xincheng Tian, andLelai Zhou, Feature extraction and robot path planning method in 3D vision-guided welding for multi-blade wheel structures, Optics and Lasers in Engineering, vol. 176, 108066, 2024. (Impact Factor: 4.6)

[5]Yusen Geng, Yuankai Zhang, Xincheng Tian, andLelai Zhou, A novel 3D vision-based robotic welding path extraction method for complex intersection curves,Robotics and Computer-Integrated Manufacturing, vol. 87, 2024. (SCI Q1区,Impact Factor: 10.4)

[6]Yujie Sun, Xiaolong Xu, Xincheng Tian,Lelai Zhou, and Yibin Li, A quaternion-based sensor fusion approach using orthogonal observations from 9D inertial and magnetic information,Information Fusion, early access, 2022. Accepted (SCI Q1区,Impact Factor: 17.564)

[7]Chen Zhang, Yibin Li, andLelai Zhou, Optimal Path and Timetable Planning Method for Multi-robot Optimal Trajectory,IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 8130-8137, 2022. (SCI Q1区,Impact Factor: 4.321)

[8]Xiaolong Xu, Yujie Sun, Xincheng Tian,Lelai Zhou, and Yibin Li, A Novel Orientation Determination Approach of Mobile Robot Using Inertial and Magnetic Sensors,IEEE Transactions on Industrial Electronics, early access, 2022. Accepted (SCI Q1区, Impact Factor: 8.236)

[9]Yujie Sun, Xiaolong Xu, Xincheng Tian,Lelai Zhou, and Yibin Li, A Decoupled Orientation Estimation Approach for Robust Roll and Pitch Measurements in Magnetically Disturbed Environment,IEEE Transactions on Instrumentation and Measurement, vol. 71, 7500611, 2022. (SCI Q1区, Impact Factor: 4.016)

[10]Xiaolong Xu, Yujie Sun, Xincheng Tian,Lelai Zhou*, and Yibin Li, A Double-EKF Orientation Estimator Decoupling Magnetometer Effects on Pitch and Roll Angles,IEEE Transactions on Industrial Electronics, vol. 69, no. 2, pp. 2055 - 2066, 2022. (SCI Q1区, 影响因子: 8.236)

[11]Lelai Zhou, Tianfa Li, Zaiyang Liu, and Yibin Li, An Efficient Gait Generating Method for Electrical Quadruped Robot Based on Humanoid Power Planning Approach,Journal of Bionic Engineering, vol. 18, pp. 1463–1474, 2021. (Impact Factor: 2.682)

[12]Yujie Sun, Xiaolong Xu, Xincheng Tian,Lelai Zhou, and Yibin Li, An Adaptive Zero Velocity Interval Detector Using Instep-mounted Inertial Measurement Unit,IEEE Transactions on Instrumentation and Measurement, vol. 70, 8502013, 2021. (SCI Q1区, Impact Factor: 4.016)

[13]Xiaolong Xu, Yujie Sun, Xincheng Tian, andLelai Zhou*, A Novel Joint Angle Estimation Method for Serial Manipulator Using MEMS Sensors,IEEE Transactions on Industrial Electronics, vol. 67, no. 12, pp. 10610-10620, 2020. (SCI Q1区, 影响因子: 7.515)

[14]Chen Zhang,Lelai Zhou*,Yibin Li, and Yong Fan, A Dynamic Path Planning Method for Social Robots in the Home Environment,Electronics, 9(7), 1173, 2020. (Impact Factor: 2.4)

[15]Tianfa Li,Lelai Zhou*,Yibin Li, Hui Chai, and Kun Yang, An Energy Efficient Motion Controller based on SLCP for the Electrically Actuated Quadruped Robot,Journal of Bionic Engineering, 17(2), pp. 290-302, 2020. (SCI, 影响因子: 2.463)

[16]Xiaolong Xu, Yujie Sun, Xincheng Tian,Lelai Zhou*and Yibin Li, A proposed attitude estimator with reliability test criteria for sensor data fusion,Measurement, 150, 107046, pp. 1-12, 2020. (SCI Q1区, 影响因子: 5.131)

[17]Teng Chen, Xiaobo Sun, Ze Xu, Yibin Li, Xuewen Rong, andLelai Zhou*, A Trot and Flying Trot Control Method for Quadruped Robot Based on Optimal Foot Force Distribution,Journal of Bionic Engineering, 16(4), pp. 621-632, 2019. (SCI, 影响因子: 2.463)

[18]Kun Yang, Yibin Li,Lelai Zhou*and Xuewen Rong, Energy Efficient Foot Trajectory of Trot Motion for Hydraulic Quadruped Robot,Energies, 12(13), 2513, 2019. (SCI, 影响因子: 2.707)

[19]Kun Yang, Xuewen Rong,Lelai Zhou*and Yibin Li, Modeling and Analysis on Energy Consumption of Hydraulic Quadruped Robot for Optimal Trot Motion Control,Applied Sciences, 9(9), 1771, 2019. (SCI, 影响因子: 2.217)

[20]Xiaolong Xu, Xincheng Tian,Lelai Zhou*and Yibin Li, A decision-tree based multiple-model UKF for attitude estimation using low-cost MEMS MARG sensor arrays,Measurement, vol. 135, pp. 355-367, 2019. (SCI Q1区, 影响因子: 5.131)

[21]Teng Chen, Xuewen Rong, Yibin Li, Chao Ding, Hui Chai andLelai Zhou*, A Compliant Control Method for Robust Trot Motion of Hydraulic Actuated Quadruped Robot,International Journal of Advanced Robotic Systems, vol. 15, no. 6, pp: 1-16, 2018. (SCI, 影响因子: 0.952)

[22]Xiaolong Xu, Xincheng Tian andLelai Zhou, A Robust Incremental-Quaternion-Based Angle and Axis Estimation Algorithm of a Single-Axis Rotation Using MARG Sensors,IEEE Access, 6:42605-42615, 2018. (SCI, 影响因子: 3.557)

[23]Kun Yang,Lelai Zhou, Xuewen Rong and Yibin Li, Onboard Hydraulic System Controller Design for Quadruped Robot Driven by Gasoline Engine,Mechatronics, 52:36-48, 2018. (SCI, 影响因子: 2.496)

[24]Lelai Zhou, Yibin Li and Shaoping Bai, “A human-centered design optimization approach for robotic exoskeletons through biomechanical simulation”,Robotics and Autonomous Systems, vol. 91, pp:337-347, 2017 (SCI)

[25]Lelai Zhou, Shaoping Bai and Yibin Li, “Energy Optimal Trajectories in Human Arm Motion Aiming for Assistive Robots”,Modeling, Identification and Control, vol. 38, no. 1, pp:11-19, 2017 (SCI)

[26]Lelai Zhou, Shaoping Bai, Michael Skipper Andersen, and John Rasmussen, “Modeling and Design of a Spring-loaded, Cable-driven, Wearable Exoskeleton for the Upper Extremity”,Modeling, Identification and Control, vol. 36, no. 3, pp: 167-177, 2015. (SCI)

[27]Lelai Zhou, and Shaoping Bai, “A New Approach to Design of a Lightweight Anthropomorphic Arm for Service Applications”,ASME Journal of Mechanisms and Robotics, vol. 7, no. 3, pp:031001-031001-12, 2015 (SCI)

[28]Shaoping Bai,Lelai Zhou, and Guanglei Wu, “Manipulator Dynamics”,Handbook of Manufacturing Engineering and Technology, Springer Publishing Company, pp: 1-17, 2014

[29]Lelai Zhou, Shaoping Bai, and Michael R. Hansen, “Integrated Dimensional and Drive-Train Design Optimization of a Light-Weight Anthropomorphic Arm”,Robotics and Autonomous Systems, vol. 60, no. 1, pp:113-122, 2012 (SCI)

[30]Lelai Zhou, Shaoping Bai, Michael R. Hansen, and John Rasmussen, “Modeling of Human Arm Energy Expenditure for Predicting Energy Optimal Trajectories”,Modeling, Identification and Control, vol. 32, no. 3, pp: 91-101, 2011. (SCI)

[31]Lelai Zhou, Shaoping Bai, and Michael R. Hansen, “Design Optimization on the Drive Train of a Light-Weight Robotic Arm”,Mechatronics, vol. 21, no. 3, pp:560–569, 2011. (SCI, 影响因子: 2.496)

招收研究生

每年招收1~2名博士研究生，3~5名硕士研究生，招收控制科学与工程专业学硕，控制工程专硕，电子信息工程专硕。

主讲课程

机器人学，线性代数，机器人技术实践I