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个人信息Personal Information
副教授
硕士生导师
性别：男
毕业院校：中南大学
学位：博士
所在单位：生物医学工程学院
学科：精密仪器及机械
办公地点：海山楼A1212
电子邮箱：guiyang.xin@dlut.edu.cn
个人简介Personal Profile
个人简历
辛桂阳，工学博士，大连理工大学生物医学工程学院副教授。主要从事机器人、强化学习、动力学与智能控制的研究，发表SCI及EI论文30余篇，参与973、EPSRC、EU H2020等中英两国及欧盟科研项目多项。担任中国生物医学工程学会康复分会青年副主任委员、 SCI二区期刊IEEE RA-L (IF 5.2) 期刊副主编 (Associate Editor)，SCI一区期刊Chinese Journal of Mechanical Engineering (IF 4.2)青年编委，SCI二区期刊Actuators (IF 2.6) 客座主编，Frontiers in Mechanical Engineering (IF 2.3) 期刊 Review Editor。IEEE 及 IEEE Robotics and Automation Society 会员。
实验室网站：http://team.dlut.edu.cn/jiqirenyuqianghuaxuexishiyanshi/zh_CN/index.htm
教育和工作经历
| 2023年4月至今 | 大连理工大学 | 生物医学工程学院 | 副教授 |
| 2021年11月至2023年3月 | 大连理工大学 | 光仪学院 | 副教授 |
| 2021年10月至2022年2月 | 爱丁堡大学 | 信息学院 | 远程访问学者 |
| 2018年5月至2021年9月 | 爱丁堡大学 | 信息学院 | 博士后 |
| 2016年9月至2017年9月 | 爱丁堡大学 | 信息学院 | 博士联合培养 |
| 2012年9月至2018年4月 | 中南大学 | 机电学院 | 博士研究生 |
| 2008年9月至2012年6月 | 中国地质大学(武汉) | 机电学院 | 本科生 |
科研项目
| 2023至2025 | 大连市应用基础研究计划项目 | 麻精药品管理机器人 | 参与 |
| 2023至2024 | 机器人技术与系统国家重点实验室开放基金 | 六足机器人高机动运动 | 主持 |
| 2023至2025 | 辽宁省应用基础研究计划项目 | 四足机器人腿臂协同控制 | 主持 |
| 2021至2023 | 中央高校基本科研业务费专项项目 | 带机械臂的平衡轮椅的非线性模型预测控制 | 主持 |
| 2023至2025 | 广东省应用基础研究计划项目 | 搅拌摩擦焊机器人关键技术研究 | 参与 |
| 2018至2021 | EPSRC National Centre for Nuclear Robotics (NCNR) | 核电站巡检机器人 | 参与 |
| 2018至2021 | EPSRC Offshore Robotics for Certification of Assets (ORCA) | 油气工业现场巡检机器人 | 参与 |
| 2018年至2021年 | EU H2020 Subterreanean Haptic Investigator (THING) | 矿井井下巡检四足机器人 | 参与 |
| 2012年至2017年 | 科技部973核电站紧急救灾机器人的基础科学问题 | 核电站运维高负载六足并联机器人 | 参与 |
主要论文
1. Guiyang Xin, Michael Mistry, Optimization-based Dynamic Motion Planning and Control for Quadruped Robots. Nonlinear Dynamics, 2024. (IF 5.6)
2. Chen Liu, Kairong Qin, Guiyang Xin*, Chengbao Li, Sibo Wang, Nonlinear Model Predictive Control for a Self-balancing Wheelchair. IEEE Access, 2024. (IF 3.9)
3. Chuanyu Yang, Can Pu, Guiyang Xin, Jie Zhang, Zhibin Li, Learning Complex Motor Skills for Legged Robot Fall Recovery. IEEE Robotics and Automation Letters (RA-L), 2023, 8(7): 4307-4314. (IF 5.2)
4. Ke Wang, Guiyang Xin*, Songyan Xin, Michael Mistry, Sethu Vijayakumar, Petar Kormushev, A Unified Model with Inertia Shaping for Highly Dynamic Jumps of Legged Robots. Mechatronics, 2023, 95: 103040. (IF 3.3)
5. Jinze Wu, Guiyang Xin, Chenkun Qi, Yufei Xue, Learning Robust and Agile Legged Locomotion Using Adversarial Motion Priors. IEEE Robotics and Automation Letters (RA-L), 2023, 8(8): 4975-4982. (IF 5.2)
6. Mathew Jose Pollayil, Franco Angelini, Guiyang Xin, Michael Mistry, Sethu Vijayakumar, Antonio Bicchi, Manolo Garabini, Choosing Stiffness and Damping for Optimal Impedance Planning. IEEE Transactions on Robotics (T-RO), 2023, 39(2): 1281-1300. (IF 7.8)
7. Guiyang Xin, Fanlian Zeng, Kai-Rong Qin, Loco-Manipulation Control for Arm-Mounted Quadruped Robots: Dynamic and Kinematic Strategies. Machines, 2022, 10(8): 719. (IF 2.6)
8. Guiyang Xin, Songyan Xin, Oguzhan Cebe, Mathew Jose Pollayil, Franco Angelini, Manolo Garabini, Sethu Vijayakumar, Michael Mistry. Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion. IEEE Robotics and Automation Letters (RA-L), 2021, 6(3): 4488-4495. (IF 5.2)
9. Guiyang Xin, Joshua Smith, David Rytz, Wouter Wolfslag, Hsiu-Chin Lin, Michael Mistry. Bounded haptic teleoperation of a quadruped robot’s foot posture for sensing and manipulation. 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020: 1431-1437.
10. Guiyang Xin, Carlo Tiseo, Wouter J. Wolfslag, Joshua Smith, Oguzhan Cebe, Zhibin Li, Sethu Vijayakumar and Michael Mistry. Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots. IEEE 16th International Conference on Automation Science and Engineering (CASE), 2020: 1415-1420.
11. Guiyang Xin, Wouter Wolfslag, Carlo Tiseo, Hsiu-Chin Lin, Michael Mistry. An optimization- based locomotion controller for quadruped robots leveraging Cartesian impedance control. Frontiers in Robotics and AI, 2020, 7: 48. (IF 3.4)
12. Franco Angelini, Guiyang Xin, Wouter Wolfslag, Carlo Tiseo, Michael Mistry, Manolo Garabini, Antonio Bicchi, Sethu Vijayakumar. Online optimal impedance planning for legged robots. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019: 6028-6035.
13. Guiyang Xin, Hsiu-Chin Lin, Joshua Smith, Oguzhan Cebe, Michael Mistry. A model-based hierarchical controller for legged systems subject to external disturbances. 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018: 4375-4382.
14. Hua Deng, Guiyang Xin, Guoliang Zhong, Michael Mistry. Object carrying of hexapod robots with integrated mechanism of leg and arm. Robotics and Computer-integrated Manufacturing, 2018, 54: 145-155. (IF 10.4)
15. 辛桂阳，钟国梁，王恒升，邓华. 基于对偶二次规划的六足并联机器人驱动力分配. 机械工程学报, 2018, 54(7): 20-27.
16. Hua Deng, Guiyang Xin, Guoliang Zhong, Michael Mistry. Gait and trajectory rolling planning and control of hexapod robots for disaster rescue applications. Robotics and Autonomous Systems, 2017, 95: 13-24. (IF 4.3)
17. Guiyang Xin, Hua Deng, Guoliang Zhong. Closed-form dynamics of a 3-DOF spatial parallel manipulator by combining the Lagrangian formulation with the virtual work principle. Nonlinear Dynamics, 2016, 86(2): 1329-1347. (IF 5.6)
学术兼职
1. Associate editor (AE) for IEEE Robotics and Automation Letters (RA-L)
2. Editorial board member for Chinese Journal of Mechanical Engineering (CJME)
3. Chair of trajectory optimization session in ICRA 2021
4. Guest editor of Actuators
5. Review editor for Frontiers in Mechanical Engineering
6. Review service for IEEE Transactions on Robotics (TR-O), IEEE Transactions on Mechatronics (T-Mech), Autonomous Robots, IEEE Transactions on Industrial Electronics (TIE), RSS, ICRA, IROS, CASE, Nonlinear Dynamics, Robotica, International journal of Advanced Robotic Systems, Mathematical Problems in Engineering, Sensors, Robotics, Applied Sciences
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