机械工程、兵器科学与技术

智能机器人、仿人机器人

2003年09月—2007年07月 澳门正规电子游戏平台 探测制导与控制技术专业 本科
2007年09月—2013年07月 澳门正规电子游戏平台 仿生技术专业 博士
2011年10月—2012年10月 美国卡内基梅隆大学 机器人研究中心 访问学者

2013年07月—2018年07月 澳门正规电子游戏平台 讲师、硕士生导师
2018年07月—2020年07月 澳门正规电子游戏平台 副教授、硕士生导师
2017年09月—2018年09月 美国康奈尔大学 访问科学家
2020年07月—2021年12月 澳门正规电子游戏平台 副教授、博士生导师
2022年01月—至今 澳门正规电子游戏平台 教授、博士生导师

成果简介：

长期从事仿人机器人运动控制、关节驱动、系统集成等基础科学和前沿技术研究。主持国家重点研发计划政府间国际合作项目、国家自然科学基金、北京市自然科学基金等科研项目20余项；在相关领域国内外期刊发表学术论文40 余篇，获授权国家发明专利30余项、国际发明专利10余项。代表性论著：

[1]Hengbo Qi, Yu Zhang, Chenxi Pan, Mengting Li, Fei Meng, Zhangguo Yu, Peng Lu, Xuechao Chen*. Enveloped Generalized Voronoi Graph and Multi-Homotopy Path Planning for Navigation in Unknown Environments, IEEE/ASME Transactions on Mechatronics, 2026, 10.1109/TMECH.2026.3665212

[2]Xuechao Chen, Yidong Du, Zishun Zhou, Zhicheng Yuan, Qingrui Zhao, Fei Meng*, Zhangguo Yu, Peng Lu, Qiang Huang. Online Behavior-centric Adaptation for Bipedal Robot Sim-to-real Transfer with Unmodeled Dynamics Mismatch, IEEE Transactions on Automation Science and Engineering, 29 Dec 2025, 23: 1533-1545.

[3]Xuechao Chen, Hengbo Qi, Zhangguo Yu, Zeyu Zhang, Ruiwen Yang, Yongliang Shi, Qiang Huang, Fei Meng*. TGH-Planner: Topology-Guided Hierarchical Planner for Nonholonomic Robots in 2D Unknown and Complex Environments, IEEE/ASME Transactions on Mechatronics, 2025, 10.1109/TMECH.2025.3620817

[4]Chenzheng Wang, Xuechao Chen*, Zhangguo Yu, Fei Meng, Qiang Huang. Robust humanoid vehicle ingress with regression and whole body control, International Journal of Machine Learning and Cybernetics, June 2025, 16: 7957-7971.

[5]Yidong Du, Zishun Zhou, Xuechao Chen*, Zhangguo Yu, Jiahao Wu, Yuanxi Zhang, Qingrui Zhao, Qiang Huang. DSE: Denoising State Estimator for RL-based Bipedal Robot Locomotion, IEEE Robotics and Automation Letters, July 2025, 10(7): 6736-6743.

[6]Haoxiang Qi, Zhangguo Yu, Xuechao Chen*, Qingqing Li, Yaliang Liu, Chuanku Yi, Chengcheng Dong, Fei Meng, Qiang Huang. A Three-Step Optimization Framework with Hybrid Models for a Humanoid Robot's Jump Motion, IEEE Transactions on Automation Science and Engineering, April 2025, vol. 22, pp. 14120-14132.

[7]Xin Zhu, Haozhou Liu, Qingqing Li, Zhaoyang Cai, Xuechao Chen*, Zhangguo Yu, Qiang Huang. Structural analysis and design of humanoid arms from human arm reachable workspace, IEEE Robotics and Automation Letters, February 2025, 10(2): 1233-1240.

[8]Lianqiang Han, Xuechao Chen*, Zhangguo Yu, Jintao Zhang, Zhifa Gao, Qiang Huang, Enhancing speed recovery rapidity in bipedal walking with limited foot area using DCM predictions, Expert Systems With Applications, Volume 250, 15 September 2024, 123858.

[9]Chencheng Dong, Xuechao Chen*, Zhangguo Yu, Huaxin Liu, Fei Meng, Qiang Huang. Swift Running Robot Leg: Mechanism Design and Motion-guided Optimization, IEEE/ASME Transactions on Mechatronics, Oct. 2023, 10.1109/TMECH.2023.3319821.

[10]Huanzhong Chen, Xuechao Chen*, Chencheng Dong, Zhangguo Yu, Qiang Huang, Online Running Pattern Generation for Humanoid Robot With Direct Collocation of Reference-Tracking Dynamics, IEEE/ASME Transactions on Mechatronics, 10.1109/TMECH.2023.3313588, Sept 2023.

[11]Haoxiang Qi, Xuechao Chen*, Zhangguo Yu*, Gao Huang, Yaliang Liu, Libo Meng, Qiang Huang. Vertical Jump of a Humanoid Robot With CoP-Guided Angular Momentum Control and Impact Absorption, IEEE Transactions on Robotics, May 12, 2023, vol. 39, no. 4, pp. 3154-3166.

[12]Chencheng Dong, Zhangguo Yu*, Xuechao Chen*, Huangzhong Chen, Yan Huang and Qiang Huang, Adaptability Control Towards Complex Ground Based on Fuzzy Logic for Humanoid Robots, IEEE Transactions on Fuzzy Systems, April 14, 2022, 30(6): 1574-1584.

[13]Qingqing Li, Fei Meng, Zhangguo Yu*, Xuechao Chen*, Qiang Huang, Dynamic Torso Compliance Control for Standing and Walking Balance of Position-Controlled Humanoid Robots, IEEE/ASME Transactions on Mechatronics, February 24, 2021, 26(2): 679-688.

[14]Xuechao Chen, Wenpeng Ding, Zhangguo Yu*, Libo Meng, Marco Ceccarelli, Qiang Huang, Combination of Hardware and Control to Reduce Humanoids Fall Damage, International Journal of Humanoid Robotics, 2020, 17(1): 1-23.

[15]Zhangguo Yu, Qinqin Zhou, Xuechao Chen*, Qingqing Li, Libo Meng, Weimin Zhang, Qiang Huang*, Disturbance Rejection for Biped Walking using Zero-Moment Point Variation Based on Body Acceleration, IEEE Transactions on Industrial Informatics, 2019, 15(4): 2265-2276.

[16]Zhangguo Yu, Mingyue Qin, Xuechao Chen*, Libo Meng, Qiang Huang*, Chenglong Fu, Computationally Efficient Coordinate Transformation for Field-Oriented Control Using Phase Shift of Linear Hall-Effect Sensor Signals, IEEE Transactions on Industrial Electronics, May 2019, 67(5): 3442-3451.

[17]Xuechao Chen, Zhangguo Yu*, Weimin Zhang, Yu Zheng, Qiang Huang*, Aiguo Ming, Bioinspired Control of Walking with Toe-off, Heel-strike and Disturbance Rejection for a biped robot, IEEE Transactions on Industrial Electronics, Oct 2017, 64(10): 7962-7971.

[18]Xuechao Chen, Qiang Huang, Zhangguo Yu, Jing Li, Gan Ma, Libo Meng, Junyao Gao, Realization of foot rotation by breaking the kinematic contact constraint, Robotica, May 2016, 34(5): 1059-1070.

[19]Xuechao Chen, Qiang Huang, Zhangguo Yu, Yuepin Lu, Robust Push Recovery by Whole-Body Dynamics Control with Extremal Accelerations, Robotica, May 2014, 32(3): 467-476.

1、主要讲授课程:
（1）本科生课程《机器人学》、《创新创业实践-智能机器人》
（2）研究生课程《机器人系统设计与应用》
2、指导硕士毕业生获得北京市优秀毕业生称号

1、2024年度自动化学会技术发明二等奖

2、2021年度国家“万人计划”青年拔尖人才

3、2020年度教育部技术发明奖一等奖

4、2018年度国家技术发明奖二等奖

5、2016年度教育部技术发明奖一等奖

1、国际期刊IEEE RAL编委（2020-至今）
2、IEEE TIE、TMech等国际期刊和IEEE IROS、ICRA、Humanoids等国际会议的审稿人