黄自鑫｜武汉工程大学｜学者主页

2026

基于角加速度轨迹规划的欠驱动机械系统跟踪控制

曾霸，黄自鑫，龚翔宇，刘皓

《武汉工程大学学报》

2026

基于切换控制的平面PR欠驱动机器人稳定策略

龚翔宇，曾霸，危少奇，黄自鑫

《燕山大学学报》

2026

受植物启发的变刚度理疗执行器设计与分析

黄自鑫，卢俊杰，于澄嵩，刘皓，陈洋

《机器人》

DOI

2026

Broad Learning System-Based Deformation Tracking Control of a Small Magnetic Soft Robot

Pan Zhang, Zonglei Yang, Peng Huang, Zixin Huang

IEEE Transactions on Industrial Electronics

DOI

2026

Trajectory planning and tracking control of a small magnetic soft crawling robot for applications in complex environments

Pan Zhang, Jinghui Lu, Bo Xu, Jinghui Lu, Zixin Huang

Expert Systems with Applications

DOI

2026

A fractional-order hybrid optimization algorithm for NARX motion modeling of pneumatic soft grippers

Zixin Huang, Junjie Lu, Ziang Wei, Peng Huang

Swarm and Evolutionary Computation

DOI

2026

Chemical laboratory-oriented corrosion-resistant soft gripper

Zixin Huang, Shengyuan Huang, Yiqing He, Chengsong Yu, Junjie Lu, Peng Huang

DOI

2026

Design and Experimental Study of a Gas Leak Detection System for Phosphorus Chemical Processes Based on Infrared Detection Technology

Xiang Dong, Ziang Wei, Rujie Long, Fan Wei, Zixin Huang, Hao Liu

International Conference on Artificial Intelligence and Electromechanical Automation (AIEA)

DOI

2026

Characteristic-Phase Analysis of Flow Field Response in a Biomimetic Undulating Fin

Shengyuan Huang, Chengsong Yu, Junjie Lu, Pan Zhang, Zixin Huang, Peng Huang

International Conference on Artificial Intelligence and Electromechanical Automation (AIEA)

DOI

2026

PSO-LM Optimized NARX Model for Pneumatic Soft Gripper in Phosphate Ore Beneficiation

Yiting Liu, Junjie Lu, Jun Chi, Peng Huang, Zixin Huang

International Conference on Artificial Intelligence and Electromechanical Automation (AIEA)

DOI

2026

Data-Driven Energy Consumption Prediction and Optimization Method for Underwater Soft Robots

Zixin Huang, Jiali Ding, Shengyuan Huang, Junjie Lu, Chengsong Yu, Peng Huang

Youth Academic Annual Conference of Chinese Association of Automation (YAC)

DOI

2026

Oscillation attenuation trajectory optimization-based control strategy for vertical multi-link under-actuated manipulator

Lejun Wang, Yufei Chen, Hongke Bai, Zixin Huang

Expert Systems with Applications

DOI

2025

Digital education for graduate students: literacy and skills development-A case study of non-linear control systems course

Zixin Huang, Ziqian Li, Lejun Wang, Hao Liu

Frontiers In Education，Vol. 100

DOI

2025

Exploration and research on the paradigm of innovative culture construction in local university computer laboratories and equipment

Dawei Li, Junjie Lu, Zixin Huang

Frontiers In Education，Vol. 100

DOI

2025

平面两自由度欠驱动机器人的统一控制策略

龚翔宇，黄自鑫，危少奇，曾霸

《武汉工程大学学报》

DOI

2025

执行器饱和的离散时间多智能体系统有限时域一致性控制

王巍，王珂，黄自鑫，王乐君，穆朝絮

《自动化学报》

2025

基于智能触觉感知的软体理疗执行器

黄自鑫，李欣澎，许义伟，张翼，常涛

《武汉工程大学学报》

DOI

2025

Inverse compensation and adaptive fuzzy integral sliding-mode control for the underactuated soft massage physiotherapy robot

Zixin Huang, Zixin Huang, Chengsong Yu, Hao Liu, Hao Liu, Peng Huang

Engineering Applications of Artificial Intelligence

DOI

2025

Velocity Trajectory Planning and Tracking Control Based on Basis Function Superposition and Metaheuristic Algorithms for Planar Underactuated Manipulators

Ba Zeng, Yang Li, Xiangyu Gong, Hongwei Wang, Zixin Huang, Hongjian Zhou

Actuators

DOI

2025

Wearable Pneumatic Soft Physiotherapy Device for Shoulder and Neck Acupoint Massage

Zixin Huang, Chengsong Yu, Junjie Lu, Peng Huang, Liu Wang

Advanced Intelligent Systems

DOI

2025

Design of Soft Physiotherapy Actuator with Variable Stiffness Based on Particle Blocking

Junjie Lu, Chengsong Yu, Hao Liu, Zixin Huang

DOI

2025

An Adaptive Contoured Soft Gripping Actuator for Chemical Experimental Glassware

Binyi Lian, Yunbo He, Junjie Lu, Chengsong Yu, Hao Liu, Zixin Huang

DOI

2025

Switching Control of Planar PPR Underactuated Robot with External Interference and Non-Zero Initial Velocity

Zixin Huang, Xiangyu Gong, Qian Lei, Hongjian Zhou

Applied Sciences

DOI

2025

Design, Characteristic Analysis and Modeling of a Tailored Soft Robot for Phosphorite Grabbing

Yang Zhang, Junjie Lu, Zixin Huang, Feng Bing

Applied Sciences

DOI

2025

Modeling and Hysteresis Inverse Compensation Control of Soft Pneumatic Gripper for Gripping Phosphorites

Yang Zhang, Junjie Lu, Zixin Huang, Feng Bing

Actuators

DOI

2025

A Simple Control Strategy for Planar 2R Underactuated Robot via DEA Optimization

Zixin Huang, Xiangyu Gong, Xiao Wan, Hongjian Zhou

Actuators

DOI

2025

Design of A Pneumatic-Driven Bionic Robot Fish Based on A Fish Tail Structure

Junwei Zhou, Chuanhao Yu, Zhengke Wen, Zixin Huang

Lecture notes in computer science

DOI

2025

Stable Control for the Planar P-R Type Underactuated Robot Based Trajectory Planning and Intelligent Algorithm

Zilin Shu, Xiangyu Gong, Ziang Wei, Zixin Huang

Lecture notes in electrical engineering

DOI

2024

科教融合背景下新任导师培养研究生的策略——以非线性控制系统课程为载体

黄自鑫，林梦颖，卢俊杰，周耀胜，胡航

《化工高等教育》

2024

基于运动规划的多欠驱动机器人有限时间控制

黄自鑫，曾霸，危少奇，魏子昂

《湖北理工学院学报》

2024

科教融合视域下研究生的数字化培养路径探索——以“非线性控制系统”课程为例

黄自鑫，卢俊杰，林梦颖，邹蝶，谭浩然

《湖北理工学院学报》

2024

新工科背景下提升青年教师工程能力的“赛教融合”实践教学新模式

孙先明，黄自鑫，付艳锋

《科教导刊》

2024

微机原理及应用

黄自鑫

2024

微机原理及应用课程实验思政融合

黄自鑫，黄丽坤，卢俊杰，徐丽

《高师理科学刊》

2024

初速度不为零的平面欠驱动机械系统稳定控制

黄自鑫，侯梦毓，秦翔宇，王乐君

《哈尔滨理工大学学报》

2024

A novel control strategy for PWM rectifier based on underactuated characteristics

Zixin Huang, Wei Wang, Chengsong Yu, Junjie Lu, Yaosheng Zhou

Measurement and Control

DOI

2024

Optimal trajectory planning of robot energy consumption based on improved sparrow search algorithm

Yaosheng Zhou, Guirong Han, Ziang Wei, Zixin Huang, Xubing Chen, Jianjun Wu

Measurement and Control

DOI

2024

A Survey of Planar Underactuated Mechanical System

Zixin Huang, Chengsong Yu, Ba Zeng, Xiangyu Gong, Hongjian Zhou

Machines

DOI

2024

Motion Control of Robot Jellyfish Based on Umbrella Structure Actuator

Zhengke Wen, Chuanhao Yu, Junwei Zhou, Zilin Shu, Zixin Huang, Xiaolong Hui

China Automation Congress (CAC)

DOI

2024

Research on gait control of humanoid robot based on DDPG algorithm

Jiali Ding, Junjie Lu, Jun Zhang, Chang Li, Zixin Huang, Lejun Wang

International Conference on Automation Control, Algorithm and Intelligent Bionics (ACAIB)

DOI

2024

Comprehensive Stable Control Strategy for a Typical Underactuated Manipulator Considering Several Uncertainties

Zixin Huang, Wei Wang, Ba Zeng, Chengsong Yu, Yaosheng Zhou

Applied Sciences

DOI

2024

New Software Bionic Haptic Actuator Design Based on Barometric Array

Zige Yu, Sai Li, Mengying Lin, Hang Hu, Yingying Li, Qian Lei, Zixin Huang

Lecture notes in electrical engineering

DOI

2024

Motion Planning and Tracking Control via Basis Function for Swarm Underactuated Robots Based on PSO Algorithm

Ba Zeng, Zixin Huang, Wei Wang, Ziang Wei, Yang Li

Lecture notes in electrical engineering

DOI

2023

新工科背景下自动化专业全过程课程思政实践探索——以微机原理及应用课程综合设计为例

黄自鑫，卢俊杰，李莹莹，高祯蔓

《化工高等教育》

2023

基于ADDIE模型的微机原理及应用的思政融入

黄自鑫，卢俊杰，胡航，肖楚阳，周耀胜

《高师理科学刊》

2023

平面Acrobot和Pendubot的统一控制策略

黄自鑫，侯梦毓，危少奇，王乐君

《深圳大学学报(理工版)》

2023

A stable control method for planar robot with underactuated constraints via motion planning and intelligent optimization

Zixin Huang, Xinpeng Li, Ziang Wei, Xiao Wan, Lejun Wang

Measurement and Control

DOI

2023

Soft Four-Leaf Clover Physiotherapy Robot for Traditional Chinese Medicine Massage Physiotherapy

Zixin Huang, Chengsong Yu, Zige Yu, Rujie Long, Yingying Li, Yun Li

China Automation Congress (CAC)

DOI

2023

A Swing-Up and Stable Control Strategy for Pendubot Based on Nonlinear Model Predictive Method

Lejun Wang, Yiqin Liu, Ruihuan Zhang, Zixin Huang, Zhen Cai

China Automation Congress (CAC)

DOI

2023

A Time-Optimal Continuous Jerk Trajectory Planning Algorithm for Manipulators

Yaosheng Zhou, Guirong Han, Ziang Wei, Zixin Huang, Xubing Chen

Applied Sciences

DOI

2023

Research on the treatment method of COVID-19 sequelae with intelligent soft manipulator based on haptic feedback

Zixin Huang, Xinpeng Li, Jie Deng, Yun Li, Xiao Wan, Lejun Wang

IEEE International Conference on Real-time Computing and Robotics (RCAR)

DOI

2023

Distributed Pneumatic Physiotherapy Robot for Human Acupoints

Xiao Wan, Zixin Huang, Yun Li, Wei Wang, Zhixuan Yang, Liheng Wang

IEEE Data Driven Control and Learning Systems Conference (DDCLS)

DOI

2023

Trajectory tracking control strategy based on intelligent optimization for space underactuated manipulator

Hou-Neng Wang, Yong Hua, Zixin Huang, Ziang Wei, Chengsong Yu, Lejun Wang

IEEE International Conference on Industrial Cyber-Physical Systems (ICPS)

DOI

2023

A General Stable Control Method for R-Type Underactuated Robot with Three Different Initial Situations

Zixin Huang, Mengyu Hou, Yong Hua, Chengsong Yu, Lejun Wang

Applied Sciences

DOI

2023

Information Express of Soft Bionic Finger Based on Visual Recognition

Sai Li, Jiarun Wang, Xinpeng Li, Zixin Huang

IEEE International Conference on Cyborg and Bionic Systems (CBS)

DOI

2023

Iterative Contraction Stability Control Strategy for Planar Prismatic-Rotational Underactuated Robot

Zixin Huang, Shaoqi Wei, Zhen Chen, Lejun Wang

IEEE Access

DOI

2022

基于智能优化算法的欠驱动机械臂位姿控制

黄自鑫，秦翔宇，陈振，王乐君

《控制工程》

2022

Finite-time control strategy for swarm planar underactuated robots via motion planning and intelligent algorithm

Zixin Huang, Shaoqi Wei, Mengyu Hou, Lejun Wang

Measurement and Control

DOI

2022

Human Pulse Detection by a Soft Tactile Actuator

Zixin Huang, Xinpeng Li, Jiarun Wang, Yi Zhang, Jingfu Mei

Sensors

DOI

2021

二阶非完整平面欠驱动机械系统的位置控制

黄自鑫，秦翔宇，王乐君

《武汉工程大学学报》

DOI

2021

一类平面欠驱动机械系统控制方法综述

黄自鑫，王乐君

《武汉工程大学学报》

DOI

2021

Motion Planning and Tracking Control of Space Underactuated Manipulator via Intelligent Algorithm

Zixin Huang, Shaoqi Wei, Yanfei Chen, Lejun Wang

China Automation Congress (CAC)

DOI

2021

Drift Suppression Control Based on Online Intelligent Optimization for Planar Underactuated Manipulator With Passive Middle Joint

Juan Li, Lejun Wang, Zhen Chen, Zixin Huang

IEEE Access

DOI

2020

基于轨迹规划的平面三连杆欠驱动机械臂位置控制

黄自鑫，赖旭芝，王亚午，吴敏

《控制与决策》

DOI

2019

二阶非完整平面3R欠驱动机械臂位置控制

黄自鑫，赖旭芝，王亚午，吴敏

《东南大学学报(自然科学版)》

精选作品

期刊论文

基于角加速度轨迹规划的欠驱动机械系统跟踪控制

基于切换控制的平面PR欠驱动机器人稳定策略

受植物启发的变刚度理疗执行器设计与分析

Broad Learning System-Based Deformation Tracking Control of a Small Magnetic Soft Robot

Trajectory planning and tracking control of a small magnetic soft crawling robot for applications in complex environments

A fractional-order hybrid optimization algorithm for NARX motion modeling of pneumatic soft grippers

Chemical laboratory-oriented corrosion-resistant soft gripper

Design and Experimental Study of a Gas Leak Detection System for Phosphorus Chemical Processes Based on Infrared Detection Technology

Characteristic-Phase Analysis of Flow Field Response in a Biomimetic Undulating Fin

PSO-LM Optimized NARX Model for Pneumatic Soft Gripper in Phosphate Ore Beneficiation

Data-Driven Energy Consumption Prediction and Optimization Method for Underwater Soft Robots

Oscillation attenuation trajectory optimization-based control strategy for vertical multi-link under-actuated manipulator

Digital education for graduate students: literacy and skills development-A case study of non-linear control systems course

Exploration and research on the paradigm of innovative culture construction in local university computer laboratories and equipment

平面两自由度欠驱动机器人的统一控制策略

执行器饱和的离散时间多智能体系统有限时域一致性控制

基于智能触觉感知的软体理疗执行器

Inverse compensation and adaptive fuzzy integral sliding-mode control for the underactuated soft massage physiotherapy robot

Velocity Trajectory Planning and Tracking Control Based on Basis Function Superposition and Metaheuristic Algorithms for Planar Underactuated Manipulators

Wearable Pneumatic Soft Physiotherapy Device for Shoulder and Neck Acupoint Massage

Design of Soft Physiotherapy Actuator with Variable Stiffness Based on Particle Blocking

An Adaptive Contoured Soft Gripping Actuator for Chemical Experimental Glassware

Switching Control of Planar PPR Underactuated Robot with External Interference and Non-Zero Initial Velocity

Design, Characteristic Analysis and Modeling of a Tailored Soft Robot for Phosphorite Grabbing

Modeling and Hysteresis Inverse Compensation Control of Soft Pneumatic Gripper for Gripping Phosphorites

A Simple Control Strategy for Planar 2R Underactuated Robot via DEA Optimization

Design of A Pneumatic-Driven Bionic Robot Fish Based on A Fish Tail Structure

Stable Control for the Planar P-R Type Underactuated Robot Based Trajectory Planning and Intelligent Algorithm

科教融合背景下新任导师培养研究生的策略——以非线性控制系统课程为载体

基于运动规划的多欠驱动机器人有限时间控制

科教融合视域下研究生的数字化培养路径探索——以“非线性控制系统”课程为例

新工科背景下提升青年教师工程能力的“赛教融合”实践教学新模式

微机原理及应用

微机原理及应用课程实验思政融合

初速度不为零的平面欠驱动机械系统稳定控制

A novel control strategy for PWM rectifier based on underactuated characteristics

Optimal trajectory planning of robot energy consumption based on improved sparrow search algorithm

A Survey of Planar Underactuated Mechanical System

Motion Control of Robot Jellyfish Based on Umbrella Structure Actuator

Research on gait control of humanoid robot based on DDPG algorithm

Comprehensive Stable Control Strategy for a Typical Underactuated Manipulator Considering Several Uncertainties

New Software Bionic Haptic Actuator Design Based on Barometric Array

Motion Planning and Tracking Control via Basis Function for Swarm Underactuated Robots Based on PSO Algorithm

新工科背景下自动化专业全过程课程思政实践探索——以微机原理及应用课程综合设计为例

基于ADDIE模型的微机原理及应用的思政融入

平面Acrobot和Pendubot的统一控制策略

A stable control method for planar robot with underactuated constraints via motion planning and intelligent optimization

Soft Four-Leaf Clover Physiotherapy Robot for Traditional Chinese Medicine Massage Physiotherapy

A Swing-Up and Stable Control Strategy for Pendubot Based on Nonlinear Model Predictive Method

A Time-Optimal Continuous Jerk Trajectory Planning Algorithm for Manipulators

Research on the treatment method of COVID-19 sequelae with intelligent soft manipulator based on haptic feedback

Distributed Pneumatic Physiotherapy Robot for Human Acupoints

Trajectory tracking control strategy based on intelligent optimization for space underactuated manipulator

A General Stable Control Method for R-Type Underactuated Robot with Three Different Initial Situations

Information Express of Soft Bionic Finger Based on Visual Recognition

Iterative Contraction Stability Control Strategy for Planar Prismatic-Rotational Underactuated Robot

基于智能优化算法的欠驱动机械臂位姿控制

Finite-time control strategy for swarm planar underactuated robots via motion planning and intelligent algorithm

Human Pulse Detection by a Soft Tactile Actuator

二阶非完整平面欠驱动机械系统的位置控制

一类平面欠驱动机械系统控制方法综述

Motion Planning and Tracking Control of Space Underactuated Manipulator via Intelligent Algorithm

Drift Suppression Control Based on Online Intelligent Optimization for Planar Underactuated Manipulator With Passive Middle Joint

基于轨迹规划的平面三连杆欠驱动机械臂位置控制

二阶非完整平面3R欠驱动机械臂位置控制

会议论文

Design and Implementation of Intelligent Bionic Dimming System Based on DALI Protocol for Chemical Industry

A Low Power License Plate Recognition System Based on Bluetooth Mesh Network and Ultrasonic Ranging

Oscillation Trajectory Optimization and Control Method for Two-link Underactuated Manipulators

Controllability analysis and stable control for planar non-one passive joint underactuated robot with bi-directional approach

线性多智能体系统有限时间最优一致性控制

Comprehensive unified control strategy for planar 2-link underactuated manipulators

An Universal Control Strategy for Planar 2-DoF Underactuated Manipulator with One Passive Joint

Control strategy based on iterative method for planar Pendubot

书籍章节

A Finite-Time Posture Control Strategy for the Swarm Underactuated Robots

研究方向