高安柱

职称:长聘教轨助理教授

邮箱:anzhu_gao@sjtu.edu.cn

地址:闵行校区转化医学大楼E251

个人主页:https://imr.sjtu.edu.cn/sz_teachers/3163.html

News

— 招2022年入学的博士、硕士,欢迎简历发至我邮箱!

本课题组致力于柔性连续体机器人和纤微机器人相关的科研工作!欢迎优秀的校内外学生加入课题组!

教育和工作经历

教育经历:

2013 - 2017 中国科学院沈阳自动化研究所/中国科学院大学,机器人学国家重点实验室,获博士学位

2014 - 2015 The Johns Hopkins University, LCSR, Visiting Student
2009 - 2011 哈尔滨工业大学,机械电子工程,机器人技术与系统国家重点实验室,获硕士学位

2005 - 2009 哈尔滨工业大学,机电工程学院,机械设计制造及其自动化,获学士学位


工作经历:

2019 至今 上海交通大学,自动化系/医疗机器人研究院,长聘教轨助理教授

2017 - 2019 Imperial College London, The Hamlyn Centre for Robotic Surgery, Research Associate
2011 - 2013 企业工作

科研方向

柔性机器人,连续体机器人,医疗手术机器人,纤微机器人及传感等

科研项目

主持国家青基、上海面上、预研等多项国家级和省市级项目。项目组经费充足,拥有世界一流的平台装备与实验条件。欢迎来实验室参观交流!

近期代表性论文

代表性论文: 

A. Gao, R. R. Murphy, W. Chen, G. Dagnino, P. Fischer, M. G. Gutierrez, G. Z. Yang, Progress in Robotics for Combating Infectious Disease. Science Robotics, 6(52). 

A. Gao, N. Liu, H. Zhang, Z. Wu, G. Z. Yang*, “Spiral FBG Sensors-Based Contact Detection for Confocal Laser Endomicroscopy”, Biosensors and Bioelectronics (BIOS), 170, 112653, 2020.

A. Gao, J. Li, Y. Zhou, Z. Wang, H. Liu*, “Modeling and Task-Oriented Optimization of Contact-Aided Continuum Robots”, IEEE/ASME Transactions on Mechatronics (TMECH), vol. 25, no. 3, pp. 1444-1455, 2020.
A. Gao, N. Liu, M. Shen, M. Abdelaziz, B. Temelkuran, G. Yang*, “Laser-Profiled Continuum Robot with Integrated Tension-Sensing for Simultaneous Shape and Tip Force Estimation”, Soft Robotics (SoRo), vol. 7, no. 4, 421-443, 2020.
L. Ros-Freixedes, A. Gao*, N. Liu, M. Shen, G. Yang, “Design Optimization of a Contact-Aided Continuum Robot for Endobronchial Interventions Based on Anatomical Constraints”, IJCARS & IPCAI 2019, vol. 14, no. 7, pp. 1137-1146, 2019.
A. Gao, Y. Zou, L. Cao, Z. Wang, and H. Liu*, “Fiber Bragg Grating Based Tri-Axial Force Sensor with Parallel Flexure Hinges”, IEEE Transactions on Industrial Electronics (TIE), vol. 65, no. 10, pp. 8215-8223, 2018.
A. Gao, R. Murphy, H. Liu*, I. Iordachita, and M. Armand*, “Mechanical Model of Dexterous Continuum Manipulators with Compliant Joints and Tendon/External Force Interactions”, IEEE/ASME Transactions on Mechatronics (TMECH), vol. 22, no. 1, pp. 465-475, 2017.
A. Gao, Y. Zou, Z. Wang, and H. Liu*, “A General Friction Model of Discrete Interactions for Tendon Actuated Dexterous Manipulators”, Journal of Mechanisms and Robotics-Transactions of the ASME (JMR), vol. 9, no. 4, 041019, 2017.
A. Gao, H. Liu*, Y. Zou, Z. Wang, and M. Liang, “A Contact-Aided Asymmetric Steerable Catheter for Atrial Fibrillation Ablation”, IEEE Robotics and Automation Letters (RA-L) with IEEE ICRA presentation (ICRA’2017), vol. 2, no. 3, pp. 1525-1531, 2017.
A. Gao*, J. Carey, R. Murphy, I. Iordachita, R. Taylor, and M. Armand, “Progress toward Robotic Surgery of the Lateral Skull Base: Integration of a Dexterous Continuum Manipulator and Flexible Ring Curette”, in Proc. IEEE Int. Conf. on Robotics and Automation (ICRA’16), 2016, pp. 4429-4435.
A. Gao, H. Liu*, Y. Zhou, Z. Yang, Z. Wang, and H. Li, “A Cross-helical Tendons Actuated Dexterous Continuum Manipulator,” in Proc. IEEE Int. Conf. on Intelligent Robots and Systems (IROS’15), pp. 2012-2017, 2015.
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