吴丹｜清华大学｜学者主页

2025

An Adaptive Shared Control Frame and Feedback Rendering in Interactive Robot‐Assisted Surgical Manipulation

Hao Ren, Zhichao Li, Qingyuan Wu, Xiaodong Ma, Dan Wu

International Journal of Medical Robotics and Computer Assisted Surgery

DOI

2025

Towards safer robot-assisted skull bone drilling: A real-time force model under an elastic clinical environment

Hao Ren, Zhaowei Liang, Zhichao Li, Wenqing Ren, Xiaodong Ma, Dan Wu

Measurement

DOI

2025

ThinTact: Thin Vision-Based Tactile Sensor by Lensless Imaging

Jing Lin Xu, Weihang Chen, Hongyu Qian, Dan Wu, Rui Chen

IEEE Transactions on Robotics

DOI

2025

DexSim2Real$^{\mathbf{2}}$: Building Explicit World Model for Precise Articulated Object Dexterous Manipulation

Taoran Jiang, Yixuan Guan, Liqian Ma, Jing Lin Xu, Jiaojiao Meng, Weihang Chen, Zecui Zeng, Lusong Li, Dan Wu, Rui Chen

IEEE Transactions on Robotics

DOI

2025

AllTact Fin Ray: A Compliant Robot Gripper With Omni-Directional Tactile Sensing

Siwei Liang, Yixuan Guan, Jing Lin Xu, Hongyu Qian, Xiangjun Zhang, Dan Wu, Wenbo Ding, Rui Chen

IEEE Transactions on Automation Science and Engineering

DOI

2025

Two-Stage High-Precision Visual 6-D Pose Measurement Method of Thin Parts With Irregular Shape for Precision Assembly

Bin Wang, Zhaowei Liang, Jiwen Zhang, Dan Wu

IEEE Transactions on Instrumentation and Measurement

DOI

2025

Adaptive Path Planning Method for Robot-Assisted Craniotomy

Zhichao Li, Shunming Hong, Xiaodong Ma, Dan Wu

Lecture notes in computer science

DOI

2025

Volume-Based Multisurface 3-D Measurement of Transparent Objects Using Fringe Projection Profilometry

Changping Hu, Rui Chen, Dan Wu, Jing Lin Xu

IEEE Transactions on Instrumentation and Measurement

DOI

2025

Control and Drilling Through Detection in Robotic-Assisted Skull Drilling Using an Automatic-Releasing Tool

Hao Ren, Zhaowei Liang, Shunming Hong, Xiaodong Ma, Dan Wu

Lecture notes in computer science

DOI

2024

基于机器人建模的航空装配测控仿真分析方法

王斌，张继文，吴丹

《清华大学学报(自然科学版)》

2024

用于机器人自动装配的长圆孔视觉分割定位算法

蒋潇，王松，吴丹

《清华大学学报(自然科学版)》

2024

Force–vision fusion fuzzy control for robotic batch precision assembly of flexibly absorbed pegs

Bin Wang, Jiwen Zhang, Dan Wu

Robotics and Computer-Integrated Manufacturing

DOI

2024

Local connection reinforcement learning method for efficient robotic peg-in-hole assembly

Yuhang Gai, Jiwen Zhang, Dan Wu, Ken Chen

Engineering Applications of Artificial Intelligence

DOI

2024

Defocus-Driven Variable-Shape Fringe for Accuracy Improvement in Fringe Projection Profilometry

Jing Lin Xu, Zhihu Li, He Liu, Rui Chen, Dan Wu, Jiwen Zhang, Guolei Wang

IEEE Transactions on Instrumentation and Measurement

DOI

2023

Smoothed-Truncated-Sine (STS) Pattern for Accuracy Improvement in Sinusoidal Fringe Projection Profilometry

Zhihu Li, Changping Hu, Jiwen Zhang, Guolei Wang, Dan Wu, Shuntao Liu, Jing Xu

IEEE Transactions on Instrumentation and Measurement

DOI

2023

A Weighted Least-Squares Algorithm for Wrapped Phase Retrieval in Sinusoidal Fringe Projection Profilometry

Zhihu Li, Rui Chen, Dan Wu, Jiwen Zhang, Guolei Wang, Ying Hong Xie, Jing Lin Xu

IEEE Transactions on Instrumentation and Measurement

DOI

2022

Piecewise strategy and decoupling control method for high pose precision robotic peg-in-hole assembly

Yuhang Gai, Bin Wang, Jiwen Zhang, Dan Wu, Ken Chen

Robotics and Computer-Integrated Manufacturing

DOI

2022

Equilibrium Manipulation Planning for a Soft Elastic Rod Considering an External Distributed Force and Intrinsic Curvature

Shirui Wu, Jiwen Zhang, Dan Wu

IEEE Robotics and Automation Letters

DOI

2022

Guidance Priority Adaptation in Human-Robot Shared Control

Hao Ren, Zhichao Li, Qingyuan Wu, Dan Wu

IEEE International Conference on Mechatronics and Automation (ICMA)

DOI

2022

Automatic Recognition Method of Aviation Thin Cable Characters Based on Rotating Monocular Camera

Bin Wang, Jiwen Zhang, Dan Wu

IEEE International Conference on Mechatronics and Automation (ICMA)

DOI

2022

Model-driven reinforcement learning and action dimension extension method for efficient asymmetric assembly

Yuhang Gai, Jiuming Guo, Dan Wu, Ken Chen

Proceedings - IEEE International Conference on Robotics and Automation/Proceedings

DOI

2022

A Nonautoregressive Dynamic Model Based Welding Parameter Planning Method for Varying Geometry Beads in WAAM

Zhihu Li, Zhimin Hou, Zengxi Stephen Pan, Dan Wu, Jing Lin Xu

IEEE Transactions on Industrial Electronics

DOI

2022

Learning-based cable coupling effect modeling for robotic manipulation of heavy industrial cables

Fangli Mou, Bin Wang, Dan Wu

Scientific Reports

DOI

2021

Feature-Based Compliance Control for Precise Peg-in-Hole Assembly

Yuhang Gai, Jiuming Guo, Dan Wu, Ken Chen

IEEE Transactions on Industrial Electronics

DOI

2021

Control Method for Robotic Manipulation of Heavy Industrial Cables

Fangli Mou, Dan Wu

IEEE International Conference on Mechatronics and Automation (ICMA)

DOI

2021

Disturbance rejection sliding mode control for robots and learning design

Fangli Mou, Dan Wu, Yunfei Dong

Intelligent Service Robotics

DOI

2020

机器人打磨碳纤维复合材料构件表面质量研究

张辉，吴丹，胡奎，董云飞

《组合机床与自动化加工技术》

DOI

2020

具有多层感知器力矩补偿的机器人自抗扰控制

牟方厉，吴丹，董云飞

《控制理论与应用》

2020

Active disturbance rejection sliding mode control for robot manipulation

Fangli Mou, Dan Wu

Journal of Intelligent Manufacturing and Special Equipment

DOI

2020

Smooth Time-Optimal Path Tracking for Robot Manipulators With Kinematic Constraints

Kui Hu, Yunfei Dong, Dan Wu

DOI

2020

Path Generation Method for Robotic Blades Grinding Based on Predictive Control and Extended Kalman Filter

Jiuming Guo, Dan Wu, Ken Chen

DOI

2020

Investigation on the countersink errors in the drilling of thin-wall stacked structures

Yuxi Zhang, Dan Wu, Yuhang Gai, Ken Chen

The International Journal of Advanced Manufacturing Technology

DOI

2020

Optimization design for countersink depth error prediction and compensation of CFRP/Al stacks

Yuxi Zhang, Dan Wu

Journal of Physics Conference Series

DOI

2020

Contact force detection and control for robotic polishing based on joint torque sensors

Yunfei Dong, Tianyu Ren, Kui Hu, Dan Wu, Ken Chen

The International Journal of Advanced Manufacturing Technology

DOI

2020

Compliance Control for Robot Manipulation in Contact with a Varied Environment Based on a New Joint Torque Controller

Yunfei Dong, Tianyu Ren, Dan Wu, Ken Chen

Journal of Intelligent & Robotic Systems

DOI

2019

协作机器人及其在航空制造中的应用综述

吴丹，赵安安，陈恳，杜坤鹏，张继文，杨亚鹏

《航空制造技术》

2019

Prediction and compensation of countersinking depth error in drilling of thin-walled workpiece

Yuxi Zhang, Dan Wu, Ken Chen, Kui Hu

The International Journal of Advanced Manufacturing Technology

DOI

2019

Kinematic Accuracy Analysis and Improvement of Mobile Manipulator

Yuhang Gai, Jiwen Zhang, Kui Hu, Dan Wu, Ken Chen

IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

DOI

2019

Tribological properties of carbon-fibre-reinforced plastic against tungsten carbide under dry condition

Xiong Liang, Dan Wu

Tribology International

DOI

2018

Impedance control of collaborative robots based on joint torque servo with active disturbance rejection

Tianyu Ren, Yunfei Dong, Dan Wu, Ken Chen

Industrial Robot the international journal of robotics research and application

DOI

2018

Countersink accuracy control of thin-wall CFRP/Al stack drilling based on micro peck strategy

Yuxi Zhang, Dan Wu, Xinguo Ma, Ken Chen, Yan Guo

The International Journal of Advanced Manufacturing Technology

DOI

2018

An Accurate On-Line Correction Strategy for Gravity Compensation Aiming at Teaching by Touch of Collaborative Robots

Yunfei Dong, Tianyu Ren, Dan Wu, Ken Chen

DOI

2018

A theoretical model for predicting the CFRP drilling-countersinking thrust force of stacks

Yuxi Zhang, Dan Wu, Ken Chen

Composite Structures

DOI

2018

Learning-Based Variable Compliance Control for Robotic Assembly

Tianyu Ren, Yunfei Dong, Dan Wu, Ken Chen

Journal of Mechanisms and Robotics

DOI

2018

Collision detection and identification for robot manipulators based on extended state observer

Tianyu Ren, Yunfei Dong, Dan Wu, Ken Chen

Control Engineering Practice

DOI

2018

Evaluation and reduction of the non-coaxiality in stack drilling using the pre-installed fasteners

Yuhao Gao, Dan Wu, Xiong Liang, Xinguo Ma, Ken Chen

Journal of Manufacturing Processes

DOI

2017

Investigation on the non-coaxiality in the drilling of carbon-fibre-reinforced plastic and aluminium stacks

Xiong Liang, Dan Wu, Yuhao Gao, Ken Chen

International Journal of Machine Tools and Manufacture

DOI

2017

An approach to countersink depth control in the drilling of thin-wall stacked structures with low stiffness

Xinguo Ma, Dan Wu, Yuhao Gao, Xiong Liang, Shi-jian Huang, Yunfei Dong

The International Journal of Advanced Manufacturing Technology

DOI

2017

Joint Torque Control of a Collaborative Robot Based on Active Disturbance Rejection With the Consideration of Actuator Delay

Tianyu Ren, Yunfei Dong, Dan Wu, Guolei Wang, Ken Chen

DOI

2017

The method of aiming towards the normal direction for robotic drilling

Yuhao Gao, Dan Wu, Yunfei Dong, Xinguo Ma, Ken Chen

International Journal of Precision Engineering and Manufacturing

DOI

2015

航空制造机器人现状与发展趋势

王国磊，吴丹，陈恳

《航空制造技术》

2015

Quantitative Analysis and Improvement of Countersink Depth in Stack Drilling

Xinguo Ma, Dan Wu, Chenggen Nan, Yuhao Gao

Volume 2B: Advanced Manufacturing

DOI

2015

The interlayer gap and non-coaxiality in stack drilling

Yuhao Gao, Dan Wu, Chenggen Nan, Xinguo Ma, Yunfei Dong, Ken Chen

International Journal of Machine Tools and Manufacture

DOI

2015

Influence of metal chips on drilling quality of carbon fiber reinforced plastic and titanium stacks

Chenggen Nan, Dan Wu, Yuhao Gao, Xinguo Ma, Ken Chen

IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

DOI

2014

Optimization Design for Normal Direction Measurement in Robotic Drilling

Yucheng Gao, Dan Wu, Chenggen Nan, Xiaomeng Ma, K. Chen

Volume 2B: Advanced Manufacturing

DOI

2014

Normal direction measurement in robotic drilling and precision calculation

Yuhao Gao, Dan Wu, Chenggen Nan, Ken Chen

The International Journal of Advanced Manufacturing Technology

DOI

2014

Limit cycle analysis of active disturbance rejection control system with two nonlinearities

Dan Wu, Ken Chen

ISA Transactions

DOI

2012

Frequency-Domain Analysis of Nonlinear Active Disturbance Rejection Control via the Describing Function Method

Dan Wu, Ken Chen

IEEE Transactions on Industrial Electronics

DOI

2012

The simplest creeping gait for a quadruped robot

Fei Liu, Dan Wu, Ken Chen

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science

DOI

2012

ANN-based approaches for CAPP

Xiankui Wang, Jian Pu, Dan Wu, Xu Zhongxin

Tsinghua Science & Technology

2012

Concurrent process planning for machined parts

Dan Wu, Xiankui Wang, Zhizhong Li

Tsinghua Science & Technology

2012

Automatic fixture design for non-rotational parts using fuzzy comprehensive judgment method

Dan Wu, Xiankui Wang, Jian Pu

Tsinghua Science & Technology

2012

Gait definition and successive gait-transition method based on energy consumption for a quadruped

Zhao Danpu, Jing Lin Xu, Dan Wu, Ken Chen, Chengrong Li

Chinese Journal of Mechanical Engineering

DOI

2011

微阵列制备机器人分向前馈误差补偿控制

刘飞，吴丹，陈恳，宋立滨，潘玉龙

《清华大学学报(自然科学版)》

2011

多孔板微阵列制备机器人系统的设计与研究

潘玉龙，吴丹，宋立滨，陈恳，刘飞

《机器人》

2011

Modelling and hydrostatic analysis of contact printing microarrays by quill pins

Dan Wu, Libin Song, Ken Chen, Fei Liu

International Journal of Mechanical Sciences

DOI

2011

Design and Research of Robot Microarrayer System for Microplate

Yulong Pan, Dan Wu, Libin Song, Ken Chen, Fei Liu

ROBOT

DOI

2011

Design and control of an electromagnetic fast tool servo with high bandwidth

Dan Wu, Shuqin Zhou, X. Xie

IET Electric Power Applications

DOI

2011

Active disturbance rejection approach with application to precision motion control

Dan Wu, Ken Chen

2011

The continuous dipping criteria of the contact printing for the microarray manufacturing with a slot pin

Fei Liu, Dan Wu, Ken Chen, Libin Song

2010

Precision active disturbance rejection control of fast tool servo

Dan Wu, Shunyan Zhou, Xiaodan Xie

2010

Chatter suppression in fast tool servo-assisted turning by spindle speed variation

Dan Wu, Ken Chen

International Journal of Machine Tools and Manufacture

DOI

2009

Design and Analysis of Precision Active Disturbance Rejection Control for Noncircular Turning Process

Dan Wu, Ken Chen

IEEE Transactions on Industrial Electronics

DOI

2009

An investigation of practical application of variable spindle speed machining to noncircular turning process

Dan Wu, Ken Chen, Xiankui Wang

The International Journal of Advanced Manufacturing Technology

DOI

2009

Optimal design of the thin-walled sleeve of hydraulic expanding mandrel

Dan Wu

Machinery Design and Manufacture

2008

Application of active disturbance rejection control to variable spindle speed noncircular turning process

Dan Wu, Tong Zhao, Ken Chen, Xiankui Wang

International Journal of Machine Tools and Manufacture

DOI

2008

Magneticfield and driving force characteristics for a fast electromagnetic tool servo

Dan Wu

Journal of Tsinghua University(Science and Technology)

2007

An Efficient Needle Insertion Robotics System for Ultrasound-guided Hepatic Microwave Coagulation Therapy

Jing Lin Xu, Xiangdong Yang, Dan Wu, Ken Chen, He Jun Ren, Ping Liang

IEEE International Conference on Automation and Logistics (ICAL)

DOI

2007

Tracking control and active disturbance rejection with application to noncircular machining

Dan Wu, Ken Chen, Xiankui Wang

International Journal of Machine Tools and Manufacture

DOI

2005

Application of active disturbance rejection to tracking control of a fast tool servo system

Dan Wu, Xiankui Wang, Tong Zhao, Wei Zhong Lv

IEEE Conference on Control Applications (CCA)

DOI

2004

自抗扰控制器在非圆车削中的应用

高杨，吴丹，易旺民，司勇

《组合机床与自动化加工技术》

2001

Concurrent Engineering and Whole Life Circle of Product

Dan Wu

1998

Fuzzy reasoning based self tuning control for servo drive in linear motor

Dan Wu

Journal of Tsinghua University(Science and Technology)

精选作品

期刊论文

An Adaptive Shared Control Frame and Feedback Rendering in Interactive Robot‐Assisted Surgical Manipulation

Towards safer robot-assisted skull bone drilling: A real-time force model under an elastic clinical environment

ThinTact: Thin Vision-Based Tactile Sensor by Lensless Imaging

DexSim2Real$^{\mathbf{2}}$: Building Explicit World Model for Precise Articulated Object Dexterous Manipulation

AllTact Fin Ray: A Compliant Robot Gripper With Omni-Directional Tactile Sensing

Two-Stage High-Precision Visual 6-D Pose Measurement Method of Thin Parts With Irregular Shape for Precision Assembly

Adaptive Path Planning Method for Robot-Assisted Craniotomy

Volume-Based Multisurface 3-D Measurement of Transparent Objects Using Fringe Projection Profilometry

Control and Drilling Through Detection in Robotic-Assisted Skull Drilling Using an Automatic-Releasing Tool

基于机器人建模的航空装配测控仿真分析方法

用于机器人自动装配的长圆孔视觉分割定位算法

Force–vision fusion fuzzy control for robotic batch precision assembly of flexibly absorbed pegs

Local connection reinforcement learning method for efficient robotic peg-in-hole assembly

Defocus-Driven Variable-Shape Fringe for Accuracy Improvement in Fringe Projection Profilometry

Smoothed-Truncated-Sine (STS) Pattern for Accuracy Improvement in Sinusoidal Fringe Projection Profilometry

A Weighted Least-Squares Algorithm for Wrapped Phase Retrieval in Sinusoidal Fringe Projection Profilometry

Piecewise strategy and decoupling control method for high pose precision robotic peg-in-hole assembly

Equilibrium Manipulation Planning for a Soft Elastic Rod Considering an External Distributed Force and Intrinsic Curvature

Guidance Priority Adaptation in Human-Robot Shared Control

Automatic Recognition Method of Aviation Thin Cable Characters Based on Rotating Monocular Camera

Model-driven reinforcement learning and action dimension extension method for efficient asymmetric assembly

A Nonautoregressive Dynamic Model Based Welding Parameter Planning Method for Varying Geometry Beads in WAAM

Learning-based cable coupling effect modeling for robotic manipulation of heavy industrial cables

Feature-Based Compliance Control for Precise Peg-in-Hole Assembly

Control Method for Robotic Manipulation of Heavy Industrial Cables

Disturbance rejection sliding mode control for robots and learning design

机器人打磨碳纤维复合材料构件表面质量研究

具有多层感知器力矩补偿的机器人自抗扰控制

Active disturbance rejection sliding mode control for robot manipulation

Smooth Time-Optimal Path Tracking for Robot Manipulators With Kinematic Constraints

Path Generation Method for Robotic Blades Grinding Based on Predictive Control and Extended Kalman Filter

Investigation on the countersink errors in the drilling of thin-wall stacked structures

Optimization design for countersink depth error prediction and compensation of CFRP/Al stacks

Contact force detection and control for robotic polishing based on joint torque sensors

Compliance Control for Robot Manipulation in Contact with a Varied Environment Based on a New Joint Torque Controller

协作机器人及其在航空制造中的应用综述

Prediction and compensation of countersinking depth error in drilling of thin-walled workpiece

Kinematic Accuracy Analysis and Improvement of Mobile Manipulator

Tribological properties of carbon-fibre-reinforced plastic against tungsten carbide under dry condition

Impedance control of collaborative robots based on joint torque servo with active disturbance rejection

Countersink accuracy control of thin-wall CFRP/Al stack drilling based on micro peck strategy

An Accurate On-Line Correction Strategy for Gravity Compensation Aiming at Teaching by Touch of Collaborative Robots

A theoretical model for predicting the CFRP drilling-countersinking thrust force of stacks

Learning-Based Variable Compliance Control for Robotic Assembly

Collision detection and identification for robot manipulators based on extended state observer

Evaluation and reduction of the non-coaxiality in stack drilling using the pre-installed fasteners

Investigation on the non-coaxiality in the drilling of carbon-fibre-reinforced plastic and aluminium stacks

An approach to countersink depth control in the drilling of thin-wall stacked structures with low stiffness

Joint Torque Control of a Collaborative Robot Based on Active Disturbance Rejection With the Consideration of Actuator Delay

The method of aiming towards the normal direction for robotic drilling

航空制造机器人现状与发展趋势

Quantitative Analysis and Improvement of Countersink Depth in Stack Drilling

The interlayer gap and non-coaxiality in stack drilling

Influence of metal chips on drilling quality of carbon fiber reinforced plastic and titanium stacks

Optimization Design for Normal Direction Measurement in Robotic Drilling

Normal direction measurement in robotic drilling and precision calculation

Limit cycle analysis of active disturbance rejection control system with two nonlinearities

Frequency-Domain Analysis of Nonlinear Active Disturbance Rejection Control via the Describing Function Method

The simplest creeping gait for a quadruped robot

ANN-based approaches for CAPP

Concurrent process planning for machined parts

Automatic fixture design for non-rotational parts using fuzzy comprehensive judgment method

Gait definition and successive gait-transition method based on energy consumption for a quadruped

微阵列制备机器人分向前馈误差补偿控制

多孔板微阵列制备机器人系统的设计与研究

Modelling and hydrostatic analysis of contact printing microarrays by quill pins

Design and Research of Robot Microarrayer System for Microplate

Design and control of an electromagnetic fast tool servo with high bandwidth

Active disturbance rejection approach with application to precision motion control

The continuous dipping criteria of the contact printing for the microarray manufacturing with a slot pin

Precision active disturbance rejection control of fast tool servo

Chatter suppression in fast tool servo-assisted turning by spindle speed variation

Design and Analysis of Precision Active Disturbance Rejection Control for Noncircular Turning Process

An investigation of practical application of variable spindle speed machining to noncircular turning process

Optimal design of the thin-walled sleeve of hydraulic expanding mandrel

Application of active disturbance rejection control to variable spindle speed noncircular turning process

Magneticfield and driving force characteristics for a fast electromagnetic tool servo

An Efficient Needle Insertion Robotics System for Ultrasound-guided Hepatic Microwave Coagulation Therapy