百晓学者学者目录

蔡鹤皋

机器人技术与系统国家重点实验室(哈尔滨工业大学)

精选作品

期刊论文

  1. Jingsong Gao, Hong-Zhe Jin, Liang Gao, Yan-He Zhu, Jie Zhao, Hegao Cai (2026). TMLS Model-Based Control of the Multimode Terrestrial-Aerial Wheeled-Bipedal Robot. IEEE/ASME transactions on mechatronics.DOI
  2. Yue Ou, Tian Xu, Jizhuang Fan, Cheng-Zhi Wang, Biying Xu, Hegao Cai, Jie Zhao (2026). Toward Automated Penetrant Testing: Monocular Vision Target Localization With Optimizable Weighted Latent Representation Learning. IEEE Transactions on Instrumentation and Measurement.DOI
  3. Chengzhi Wang, Tianjiao Zheng, Sikai Zhao, Tian Lai Xu, Shize Zhao, Ziyuan Yang, Hegao Cai, Jie Zhao, Yanhe Zhu (2025). DEGO-ILC: an iterative learning variable gain controller for enhancing trajectory tracking precision in industrial robots. Industrial Robot the international journal of robotics research and application.DOI
  4. Chengzhi Wang, Haotian Ju, Zhiyuan Yang, Tianjiao Zheng, Shize Zhao, Sikai Zhao, Sikai Zhao, Sikai Zhao, Dawei Liang, Hegao Cai, Jie Zhao, Yanhe Zhu (2025). An In-Situ Excitation Trajectory Optimizer for Industrial Robots in Constrained Space with Human Collaboration. Lecture notes in computer science.DOI
  5. Chengzhi Wang, Tianjiao Zheng, Tian Lai Xu, Shize Zhao, Ziyuan Yang, Sikai Zhao, Hegao Cai, Jie Zhao, Yanhe Zhu (2025). Iterative relative error allocation and compensation in dual-robot collaboration based on dynamic vector valued Nash games. Advanced Engineering Informatics.DOI
  6. Chengzhi Wang, Tianjiao Zheng, Shize Zhao, Hegao Cai, Jie Zhao, Yanhe Zhu (2025). A Master-Slave Trajectory Generation and Relative Error Compensation Mechanisms for High-Accuracy Industrial Robot Collaboration. International Symposium on Intelligent Robotics and Systems (ISoIRS).DOI
  7. Chengzhi Wang, Tianjiao Zheng, Tian Lai Xu, Shize Zhao, Ziyuan Yang, Sikai Zhao, Hegao Cai, Jie Zhao, Yanhe Zhu (2025). Enhancing trajectory tracking accuracy of industrial robots through temporal–spatial mapping and multi-measurement alignment. Robotics and Computer-Integrated Manufacturing.DOI
  8. Junyu Wu, He Wang, Yubin Liu, Zhuoqi Man, Xiaofan Yang, Xuanming Cao, Hegao Cai, Jie Zhao (2025). Optimization of Structural Parameters and Mechanical Performance Analysis of a Novel Redundant Actuation Rehabilitation Training Robot. Biomimetics.DOI
  9. Chengzhi Wang, Sikai Zhao, Tianjiao Zheng, Hegao Cai, Jie Zhao, Yanhe Zhu (2025). An Adaptive Feedforward Optimization Mechanism for Improving Industrial Robots Trajectory Tracking Performance through Iterative Learning. International Conference on Robotics, Control and Automation (ICRCA).DOI
  10. Chengzhi Wang, Sikai Zhao, Tian Lai Xu, Tianjiao Zheng, Shize Zhao, Ziyuan Yang, Hegao Cai, Jie Zhao, Yanhe Zhu (2025). Multisensory Measurement Synchronization and Industrial Robot Trajectory Error Compensation Based on Laser Tracker and Photoelectric Switch. IEEE Transactions on Instrumentation and Measurement.DOI
  11. Junyu Wu, Ran Wang, Zhuoqi Man, Yubin Liu, Jie Zhao, Hegao Cai (2025). A Gait Sub-Phase Switching-Based Active Training Control Strategy and Its Application in a Novel Rehabilitation Robot. Biosensors.DOI
  12. Jingsong Gao, Hong-Zhe Jin, Liang Gao, Yan-He Zhu, Jie Zhao, Hegao Cai (2025). Jump Control Based on Nonlinear Wheel-Spring-Loaded Inverted Pendulum Model: Validation of a Wheeled-Bipedal Robot with Single-Degree-of-Freedom Legs. Biomimetics.DOI
  13. Junyu Wu, He Wang, Gongzi Zhang, Yubin Liu, Jie Zhao, Hegao Cai (2025). An Investigation Into the Application of an RL-GA-Based Multi-Modal Motion Somatosensory Optimization Control Strategy for a Novel Rehabilitation Robot. IEEE Robotics and Automation Letters.DOI
  14. Chengzhi Wang, Sikai Zhao, Tianjiao Zheng, Hegao Cai, Jie Zhao, Yanhe Zhu (2024). An Iterative Variable Step Error Compensation Approach for Enhancing Robot Trajectory Accuracy. International Conference on Automation, Robotics and Computer Engineering (ICARCE).DOI
  15. Biying Xu, Xuehe Zhang, Xuan Yu, Yue Ou, Kuan Zhang, Hegao Cai, Jie Zhao, Jizhuang Fan (2024). A Motion Planner Based on Mask-D3QN of Quadruped Robot Motion for Steam Generator. Biomimetics.DOI
  16. Biying Xu, Xuehe Zhang, Xuan Yu, Hegao Cai, Kuan Zhang, Jie Zhao, Jizhuang Fan (2024). Motion Planning for Steam Generator Tube Sheet Quadruped Maintenance Robot. IEEE International Conference on Mechatronics and Automation (ICMA).DOI
  17. Junming Zhang, Yubin Liu, Liang Gao, Yanhe Zhu, Xizhe Zang, Hegao Cai, Jie Zhao (2024). Enhancing Longitudinal Flight Performance of Drones through the Coupling of Wings Morphing and Deflection of Aerodynamic Surfaces. Advanced Intelligent Systems.DOI
  18. Rui Zou, Yubin Liu, Jie Zhao, Hegao Cai (2024). Multimodal Learning‐Based Proactive Human Handover Intention Prediction Using Wearable Data Gloves and Augmented Reality. Advanced Intelligent Systems.DOI
  19. Cheng-Zhi Wang, Shi-Ze Zhao, Tian-Jiao Zheng, Hegao Cai, Yan-He Zhu (2024). Online Parallel Optimization Motion Planner for Robots Under Moving Obstacle Circumstances. International Conference on Intelligent Robotics and Applications.DOI
  20. Jingsong Gao, Hong-Zhe Jin, Liang Gao, Jie Zhao, Yan-He Zhu, Hegao Cai (2024). A Multimode Two-Wheel-Legged Land-Air Locomotion Robot and Its Cooperative Control. IEEE/ASME transactions on mechatronics.DOI
  21. Junyu Wu, Yubin Liu, Guoqing Chu, Hegao Cai, Ying Li, Jie Zhao (2024). Research on the configuration of a balanced disability rehabilitation robot based on redundant degrees of freedom. Advances in Mechanical Engineering.DOI
  22. 高靖松，金弘哲，朱延河，高良，吕红亚，赵杰，蔡鹤皋（2023）. 基于非线性弹簧模型的轮腿自平衡机器人跳跃算法研究. 《机械工程学报》.
  23. Fanxing Kong, Jie Zhao, Hegao Cai, Yanhe Zhu (2023). Design and Implementation of a Ferrofluid-Based Liquid Robot for Small-Scale Manipulation. IEEE Robotics and Automation Letters.DOI
  24. Yubin Liu, Junming Zhang, Liang Gao, Yanhe Zhu, Benshan Liu, Xizhe Zang, Hegao Cai, Jie Zhao (2023). Employing Wing Morphing to Cooperate Aileron Deflection Improves the Rolling Agility of Drones. Advanced Intelligent Systems.DOI
  25. Xin Sui, Mingzhu Lai, Jian Qi, Zhiyuan Yang, Ning Zhao, Jie Zhao, Hegao Cai, Yanhe Zhu (2023). A Fluid-Driven Loop-Type Modular Soft Robot with Integrated Locomotion and Manipulation Capability. Biomimetics.DOI
  26. Rui Zou, Yubin Liu, Ying Li, Guoqing Chu, Jie Zhao, Hegao Cai (2023). A Novel Human Intention Prediction Approach Based on Fuzzy Rules through Wearable Sensing in Human–Robot Handover. Biomimetics.DOI
  27. Biying Xu, Xuehe Zhang, Yue Ou, Kuan Zhang, Zhenming Xing, Hegao Cai, Jie Zhao, Jizhuang Fan (2023). High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in a steam generator. Frontiers of Mechanical Engineering.DOI
  28. GAO Jingsong, Jin Hongzhe, ZHU Yanhe, Gao Liang, Lü Hongya, ZHAO Jie, Cai He-gao (2023). Research on Jumping Algorithm of Wheel-legged Self-balancing Robot Based on Nonlinear Spring Model. Journal of Mechanical Engineering.DOI
  29. Junming Zhang, Yubin Liu, Liang Gao, Benshan Liu, Yanhe Zhu, Xizhe Zang, Jie Zhao, Hegao Cai (2022). Bioinspired Drone Actuated Using Wing and Aileron Motion for Extended Flight Capabilities. IEEE Robotics and Automation Letters.DOI
  30. Qianqian Fang, Tian Lai Xu, Tianjiao Zheng, Hegao Cai, Jie Zhao, Yanhe Zhu (2022). A Rehabilitation Training Interactive Method for Lower Limb Exoskeleton Robot. Mathematical Problems in Engineering.DOI
  31. Xin Sui, Tianjiao Zheng, Jian Qi, Zhiyuan Yang, Ning Zhao, Jie Zhao, Hegao Cai, Yanhe Zhu (2022). Task-oriented Hierarchical Control of Modular Soft Robots with External Vision Guidance. Journal of Bionic Engineering.DOI
  32. Biying Xu, Xuehe Zhang, Yue Ou, Kuan Zhang, Zhenming Xing, Hegao Cai, Jie Zhao, Jizhuang Fan (2022). An Inspection Planning Method for Steam Generators with Triangular-Distributed Tubes. Lecture notes in computer science.DOI
  33. Yue Ou, Biying Xu, Hegao Cai, Jie Zhao, Jizhuang Fan (2022). An overview on mobile manipulator in nuclear applications*. International Conference on Real-time Computing and Robotics.DOI
  34. ChongYang Li, ZhiQi Li, Zainan Jiang, Shipeng Cui, Hong Liu, Hegao Cai (2021). Autonomous planning and control strategy for space manipulators with dynamics uncertainty based on learning from demonstrations. Science China Technological Sciences.DOI
  35. Biying Xu, Ge Li, Kuan Zhang, Hegao Cai, Jie Zhao, Jizhuang Fan (2021). Motion planning of a steam generator mobile tube-inspection robot. Nuclear Engineering and Technology.DOI
  36. Biying Xu, Ge Li, Zhenming Xing, Hegao Cai, Jie Zhao, Jizhuang Fan (2021). Design and motion performance of new inspection robot for Steam Generator heat transfer tubes. IEEE International Conference on Real-time Computing and Robotics (RCAR).DOI
  37. Fan-Xing Kong, Yan-He Zhu, Chen Yang, Hong-Zhe Jin, Jie Zhao, Hegao Cai (2021). Integrated Locomotion and Deformation of a Magnetic Soft Robot: Modeling, Control, and Experiments. IEEE transactions on industrial electronics (1982. Print).DOI
  38. Chong-Yang Li, Zai-Nan Jiang, Yang Liu, Ziqi Liu, Hegao Cai (2021). Teleoperation of the Tiangong-2 Space Manipulator System. IEEE International Conference on Robotics and Biomimetics.DOI
  39. Rui Zou, Yubin Liu, G. Chu, Jie Zhao, Hegao Cai (2021). ONLINE ACTIVE ENSEMBLE LEARNING FOR ROBOT COLLISION DETECTION IN DYNAMIC ENVIRONMENTS. Journal of Mechanics in Medicine and Biology.DOI
  40. 李重阳，蒋再男，刘宏，蔡鹤皋（2020）. 面向空间机械臂操作任务的模仿学习策略. 《哈尔滨工业大学学报》.
  41. Rui Zou, Yubin Liu, Jie Zhao, Hegao Cai (2020). A Framework for Human-Robot-Human Physical Interaction Based on N-Player Game Theory. Italian National Conference on Sensors.DOI
  42. Xin Sui, Hegao Cai, Dongyang Bie, Yu Zhang, Jie Zhao, Yanhe Zhu (2019). Automatic Generation of Locomotion Patterns for Soft Modular Reconfigurable Robots. Applied Sciences.DOI
  43. Ge Li, Qianqian Fang, Tian Lai Xu, Jie Zhao, Hegao Cai, Yanhe Zhu (2019). Inverse kinematic analysis and trajectory planning of a modular upper limb rehabilitation exoskeleton. Technology and Health Care.DOI
  44. Qianqian Fang, Ge Li, Tian Lai Xu, Jie Zhao, Hegao Cai, Yanhe Zhu (2019). A Simplified Inverse Dynamics Modelling Method for a Novel Rehabilitation Exoskeleton with Parallel Joints and Its Application to Trajectory Tracking. Mathematical Problems in Engineering.DOI
  45. 蔡鹤皋（2018）. 一部高水平的机器人学科普佳作——评长篇小说《探秘机器人王国》. 《机器人技术与应用》.
  46. Chongyang Li, Zainan Jiang, Yan Wang, Jianhui Chen, Hong Liu, Hegao Cai (2018). Teleoperation of Upper-Body Humanoid Robot Platform with Hybrid Motion Mapping Strategy. IEEE International Conference on Real-time Computing and Robotics (RCAR).DOI
  47. Liang Gao, Hongzhe Jin, Jie Zhao, Hegao Cai, Yanhe Zhu (2018). Flight Dynamics Modeling and Control of a Novel Catapult Launched Tandem-Wing Micro Aerial Vehicle With Variable Sweep. IEEE Access.DOI
  48. Songbo Deng, Hegao Cai, Ke Li, Tong-Tong Li, Tao Deng, Yan-Bo Wang (2018). The Design of Intelligent Grasping Control System for a Special Operation Manipulator. IOP Conference Series: Materials Science and Engineering.DOI
  49. Songbo Deng, Hegao Cai, Ke Li, Yuanchao Cheng, Yongjian Ni, Yan-Bo Wang (2018). The Design and Analysis of a Light Explosive Ordnance Disposal Manipulator. 2018 2nd International Conference on Robotics and Automation Sciences (ICRAS).DOI
  50. Songbo Deng, Hegao Cai, Ke Li, Tao Deng, Yan-Bo Wang (2018). The research of an acceleration method for a space microgravity simulator. 2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA).DOI
  51. Songbo Deng, Yan Wang, Hegao Cai, Ke Li, Fan Yang, Yan-Bo Wang (2018). Structural Topology Optimization Research for A Six-DOF Space Robotic Manipulator.DOI
  52. 刘阳，谢宗武，王滨，刘宏，蔡鹤皋（2017）. 自由漂浮空间机器人视觉伺服系统研究. 《哈尔滨工程大学学报》.
  53. 刘阳，谢宗武，王滨，刘宏，蔡鹤皋（2017）. 基于OpenGL的模拟双目建模平台研究与仿真. 《哈尔滨工程大学学报》.
  54. Jizhuang Fan, Wei Zhang, Pengcheng Kong, Hegao Cai, Gangfeng Liu (2017). Design and Dynamic Model of a Frog-inspired Swimming Robot Powered by Pneumatic Muscles. Chinese Journal of Mechanical Engineering.DOI
  55. Liang Gao, Changle Li, Hongzhe Jin, Yanhe Zhu, Jie Zhao, Hegao Cai (2017). Aerodynamic characteristics of a novel catapult launched morphing tandem-wing unmanned aerial vehicle. Advances in Mechanical Engineering.DOI
  56. Pengfei Wang, Guocai Liu, Fusheng Zha, Wei Guo, Mantian Li, Hegao Cai (2016). A simple control algorithm for controlling biped dynamic walking with stopping ability based on the footed inverted pendulum model. Advances in Mechanical Engineering.DOI
  57. Yanyan Chen, Yubin Liu, Changle Li, Gangfeng Liu, Yanhe Zhu, Jie Zhao, Hegao Cai (2016). Gravity balance mechanism for a spatial robotic manipulator. Journal of Mechanical Science and Technology.DOI
  58. Ji-Hong Yan, Xinbin Zhang, Jie Zhao, Hegao Cai (2016). Water-Surface Stability Analysis of a Miniature Surface Tension-Driven Water Strider Robot. Annual Meeting of the IEEE Industry Applications Society.DOI
  59. Hong Liu, Dapeng Yang, Shaowei Fan, Hegao Cai (2016). On the development of intrinsically-actuated, multisensory dexterous robotic hands.DOI
  60. 王忠立，赵杰，蔡鹤皋（2015）. 大规模环境下基于图优化SLAM的后端优化方法. 《哈尔滨工业大学学报》.
  61. 王忠立，赵杰，蔡鹤皋（2015）. 大规模环境下基于图优化SLAM的图构建方法. 《哈尔滨工业大学学报》.
  62. 蔡鹤皋（2015）. 一个机器人大发展的时代. 《科学与社会》.
  63. 蔡鹤皋（2015）. 对我国机器人产业发展的思考. 《集成技术》.
  64. Bangxiang Chen, Yanhe Zhu, Jie Zhao, Hegao Cai (2015). Design of a prototype of an adaptive soft robot based on ferrofluid. IEEE International Conference on Robotics and Biomimetics (ROBIO).DOI
  65. Liang Gao, Jie Zhao, Yanhe Zhu, Hongzhe Jin, Hongwei Wang, Hegao Cai (2015). Application of cycle variable pitch propeller to morphing unmanned aerial vehicles. IEEE International Conference on Information and Automation (ICIA).DOI
  66. Xinbin Zhang, Jihong Yan, Jie Zhao, Gangfeng Liu, Hegao Cai, Qinmin Pan (2015). A miniature surface tension-driven robot mimicking the water-surface locomotion of water strider. Proceedings - IEEE International Conference on Robotics and Automation/Proceedings.DOI
  67. Yanyan Chen, Jizhuang Fan, Yanhe Zhu, Jie Zhao, Hegao Cai (2015). A passively safe cable driven upper limb rehabilitation exoskeleton. Technology and Health Care.DOI
  68. Wei Zhang, Liu Gangfeng, Jizhuang Fan, Cai He-gao (2015). Foot trajectory planning of frog swimming based on propulsion mechanism. IEEE International Conference on Robotics and Biomimetics (ROBIO).DOI
  69. J.-H. Yan, X.-B. Zhang, J. Zhao, G.-F. Liu, Hegao Cai, Qin-Min Pan (2015). A miniature surface tension-driven robot using spatially elliptical moving legs to mimic a water strider’s locomotion. Bioinspiration & Biomimetics.DOI
  70. 丰飞，刘伊威，刘宏，蔡鹤皋（2014）. 空间三指-三瓣式大容差末端执行器容差分析. 《机械设计与制造》.
  71. 吴明月，刘延杰，蔡鹤皋（2014）. 基于最优S型曲线轨迹的硅片传输机器人末端振动抑制方法. 《机器人》.
  72. 蔡鹤皋，小城（2014）. 蔡鹤皋机器人及机电一体化技术专家. 《航空制造技术》.
  73. 张奇，刘振，谢宗武，杨海涛，刘宏，蔡鹤皋（2014）. 具有谐波减速器的柔性关节参数辨识. 《机器人》.
  74. 丰飞，刘伊威，刘宏，蔡鹤皋（2014）. 空间大型末端执行器漂浮载荷捕获仿真分析. 《机械传动》.
  75. 蔡鹤皋（2014）. “机器换人”这条路,不想走也得走. 《国企》.
  76. Xia Jing, Zainan Jiang, Hong Liu, Hegao Cai (2014). Analytical inverse kinematic computation for anthropomorphic manipulator based on human-like motion optimization and maximum reachable region optimization. IEEE International Conference on Robotics and Biomimetics (ROBIO).DOI
  77. Yanyan Chen, Ge Li, Yanhe Zhu, Jie Zhao, Hegao Cai (2014). Design of a 6-DOF upper limb rehabilitation exoskeleton with parallel actuated joints. Bio-Medical Materials and Engineering.DOI
  78. Pengfei Wang, Guocai Liu, Fusheng Zha, Mantian Li, Wei Guo, Hegao Cai (2014). A three decomposition control algorithm for controlling biped walking with dynamic balance. IEEE International Conference on Mechatronics and Automation (ICMA).DOI
  79. Qi Zhang, Xie Zongwu, Sun Kui, Haitao Yang, Minghe Jin, Hegao Cai (2014). Passivity based control of flexible joint robot with dynamic friction compensation. World Congress on Intelligent Control and Automation.DOI
  80. Xia Jing, Zainan Jiang, Hong Liu, Hegao Cai, Guangxin Wu (2014). A Novel Hybrid Safety-Control Strategy for a Manipulator. International Journal of Advanced Robotic Systems.DOI
  81. Ming-Yue Wu, Yan-Jie Liu, Hegao Cai (2014). Dynamic Analysis and Optimization for Wafer Handling Robot.DOI
  82. Qi Zhang, Zong-Wu Xie, Sun Kui, Haitao Yang, Ming-He Jin, Hegao Cai (2014). Interconnection and damping assignment passivity-based control for flexible joint robot. Proceeding of the 11th World Congress on Intelligent Control and Automation.DOI
  83. 张奇，谢宗武，刘宏，蔡鹤皋（2013）. 基于无源性理论的柔性关节控制器设计. 《机器人》.
  84. Fei Feng, Yiwei Liu, Hong Liu, Hegao Cai (2013). Development of space end-effector with capabilities of misalignment tolerance and soft capture based on tendon-sheath transmission system.DOI
  85. 张奇，谢宗武，刘宏，蔡鹤皋（2013）. FPGA软硬件编程方法的模块化关节控制器设计. 《电机与控制学报》.
  86. Haitao Yu, Mantian Li, Hegao Cai (2013). Analysis on the performance of the SLIP runner with nonlinear spring leg. Chinese Journal of Mechanical Engineering.DOI
  87. Qi Zhang, Zongwu Xie, Hong LIU, Hegao Cai (2013). Flexible Joint Controller Design Based on Passivity Theory. ROBOT.DOI
  88. Wei Zhang, Jizhuang Fan, Jun Fei Zhong, Cai He-gao (2013). Jumping performance analysis of a frog-inspired robot based on trajectory planning. IEEE International Conference on Information and Automation (ICIA).DOI
  89. Guo-Cai Liu, Fu-Sheng Zha, Man-Tian Li, Wei Guo, Pengfei Wang, Hegao Cai (2013). Control of a humanoid robot walking with dynamic balance. IEEE International Conference on Robotics and Biomimetics.DOI
  90. Jing Xia, Zai-Nan Jiang, Hong Liu, Hegao Cai, Guang-Xi Wu (2013). A manipulator's safety control strategy based on fast continuous collision detection. IEEE International Conference on Robotics and Biomimetics.DOI
  91. Hai-Tao Yu, Wei Guo, Jing Deng, Man-Tian Li, Hegao Cai (2013). A CPG-based locomotion control architecture for hexapod robot. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.DOI
  92. 李满天，于海涛，郭伟，王鹏飞，蔡鹤皋（2012）. 基于摄动理论的SLIP模型解析化研究及其运动控制. 《机器人》.
  93. 于海涛，郭伟，谭宏伟，李满天，蔡鹤皋（2012）. 基于气动肌腱驱动的拮抗式仿生关节设计与控制. 《机械工程学报》.
  94. 夏晶，蒋再男，刘宏，蔡鹤皋（2012）. 机器人宇航员遥操作中手臂运动映射优化. 《华中科技大学学报(自然科学版)》.
  95. Haitao Yu, Mantian Li, Pengfei Wang, Hegao Cai (2012). Approximate perturbation stance map of the slip runner and application to locomotion control. Journal of Bionic Engineering.DOI
  96. Guocai Liu, Mantian Li, Wei Guo, Hegao Cai (2012). Control of a biped walking with dynamic balance. IEEE International Conference on Mechatronics and Automation (ICMA).DOI
  97. Qi Zhang, Zongwu Xie, Fenglei Ni, Hegao Cai, Hong Liu (2012). A high performance FPGA-based joint controller with hardware/software co-design method. IEEE International Conference on Mechatronics and Automation (ICMA).DOI
  98. Haitao Yu, Mantian Li, Wei Guo, Hegao Cai (2012). Stance control of the SLIP hopper with adjustable stiffness of leg spring. IEEE International Conference on Mechatronics and Automation (ICMA).DOI
  99. Wei Zhang, Jizhuang Fan, Hegao Cai (2012). Design of a novel frog-inspired hopping leg. IEEE International Conference on Information and Automation (ICIA).DOI
  100. Cai He-gao (2012). Design and Control on Antagonistic Bionic Joint Driven by Pneumatic Muscles Actuators.
  101. Dangyang Jie, Fenglei Ni, Yi-Song Tan, Hong Liu, Hegao Cai (2012). Equivalent Capture Strategy for a Space Netting Interface.DOI
  102. Nan Li, Dapeng Yang, Li Jiang, Hong Liu, Hegao Cai (2012). Combined Use of FSR Sensor Array and SVM Classifier for Finger Motion Recognition Based on Pressure Distribution Map.DOI
  103. Fei Feng, Yiwei Liu, Hong Liu, Hegao Cai (2012). Design schemes and comparison research of the end-effector of large space manipulator.DOI
  104. Qi Zhang, Zong-Wu Xie, Hegao Cai, Hong Liu (2012). FPGA-implementation of passivity-based control for elastic-joint robot. IEEE International Conference on Robotics and Biomimetics.DOI
  105. Hai-Tao Yu, Man-Tian Li, Hegao Cai (2012). Approximating the stance map of the SLIP runner based on perturbation approach. IEEE International Conference on Robotics and Automation.DOI
  106. Man-Tian Li, Hai-Tao Yu, Wei Guo, Pengfei Wang, Hegao Cai (2012). Research on the Analyticity of SLIP Model Based on Perturbation Theory and Locomotion Control.DOI
  107. 吴剑威，史士财，刘宏，蔡鹤皋（2011）. 空间机器人目标捕获过程中的载体姿态扰动优化. 《机器人》.
  108. 马良，闫继宏，高永生，赵杰，蔡鹤皋（2011）. 双操作臂的耦合误差同步协调控制. 《哈尔滨工业大学学报》.
  109. 丰飞，刘伊威，刘宏，蔡鹤皋（2011）. 一种空间大容差末端执行器设计方案与仿真分析. 《机器人》.
  110. 介党阳，倪风雷，谭益松，刘宏，蔡鹤皋（2011）. 基于分布式控制系统的空间大型末端执行器抓捕策略. 《机器人》.
  111. 谭益松，刘伊威，刘宏，介党阳，蔡鹤皋（2011）. 空间大型末端执行器柔性钢丝绳的建模与捕获动力学. 《机器人》.
  112. 介党阳，倪风雷，谭益松，刘宏，蔡鹤皋（2011）. 空间网状捕获接口的等效抓捕控制. 《机器人》.
  113. 李楠，赵京东，姜力，刘宏，蔡鹤皋（2011）. 多自由度仿生假手嵌入式控制系统及其抓取策略. 《机器人》.
  114. 吴克，樊绍巍，陈兆芃，刘宏，蔡鹤皋（2011）. 新型五指仿人型机器人灵巧手触觉传感器设计及其静态标定. 《机械与电子》.
  115. 朱翔宇，樊继壮，蔡鹤皋（2011）. 仿青蛙跳跃机器人控制系统设计. 《机械与电子》.
  116. Hong Liu, Yisong Tan, Yiwei Liu, Dangyang Jie, Kai Gao, Hegao Cai (2011). Development of Chinese large-scale space end-effector. Journal of Central South University.DOI
  117. Yi-Song Tan, Yiwei Liu, Hong Liu, Dangyang Jie, Hegao Cai (2011). Modeling and Capture Dynamics of Flexible Cables Used in Large-scale Space End-effector: Modeling and Capture Dynamics of Flexible Cables Used in Large-scale Space End-effector.DOI
  118. Cai He-gao (2011). Design of Control System for Frog-inspired Jumping Robot. Machinery & Electronics.
  119. Cai He-gao (2011). Design and Simulation Analysis of a Space End-effector with Large Misalignment Tolerance. Robot.
  120. Jian-Wei Wu, Shi-Cai Shi, Hong Liu, Hegao Cai (2011). Spacecraft Attitude Disturbance Optimization of Space Robot in Target Capturing Process: Spacecraft Attitude Disturbance Optimization of Space Robot in Target Capturing Process.DOI
  121. Nan Li, Jing-Dong Zhao, Li Jiang, Hong Liu, Hegao Cai (2011). Embedded Control System for Multi-DOF Anthropomorphic Prosthetic Hand and Its Grasping Strategy: Embedded Control System for Multi-DOF Anthropomorphic Prosthetic Hand and Its Grasping Strategy.DOI
  122. Cai He-gao (2011). Synchronized coordinated control of two manipulators with coupled error. Ha'erbin gongye daxue xuebao.
  123. Cai He-gao (2011). Design and Static Calibration of a Novel Tactile Sensor for Five-fingered Dexterous Robot Hand. Machinery & Electronics.
  124. Cai He-gao (2011). Transfer Vehicle Cargo Manipulating Strategy in Orbit Using Large-scale Space End-effector.
  125. Hai-Tao Yu, Man-Tian Li, Hegao Cai (2011). Approximating the stance map of a SLIP Monopod: A perturbation approach. IEEE Conference on Robotics, Automation and Mechatronics.DOI
  126. Dangyang Jie, Fenglei Ni, Yi-Song Tan, Hong Liu, Hegao Cai (2011). Capture Strategy Based on a Distributed Control System for a Large-scale Space End-Effector.DOI
  127. Dangyang Jie, Fenglei Ni, Yi-Song Tan, Hong Liu, Hegao Cai (2011). Local Autonomous Capture Strategy for a Space Snare Interface.DOI
  128. 魏延辉，赵杰，高延滨，蔡鹤皋（2010）. 一种可重构机器人运动学求解方法. 《哈尔滨工业大学学报》.
  129. 王猛，臧希喆，赵杰，蔡鹤皋（2010）. 一种跳跃机器腿的设计. 《哈尔滨工业大学学报》.
  130. 魏延辉，刘胜，赵杰，蔡鹤皋（2010）. 可重构机器人构形容错性分析及控制的研究. 《机械与电子》.
  131. Liang Ma, Jihong Yan, Jie Zhao, Zhifeng Chen, Hegao Cai (2010). Teleoperation System of Internet-Based Multi-Operator Multi-Mobile-Manipulator. International Conference on Electrical and Control Engineering.DOI
  132. Cai He-gao (2010). Development of a robot with jumping legs. Ha'erbin gongye daxue xuebao.
  133. Hegao Cai (2010). Research of Fault Tolerance Analysis and Control for Reconfigurable Robots.
  134. Qian Ren, Dongmei Wu, Shu-Guo Wang, Yi-Li Fu, Hegao Cai (2010). Collision Detection Algorithm in Virtual Environment of Robot Workcell. Artificial Intelligence and Computational Intelligence.DOI
  135. Hegao Cai (2010). A solution method for kinematics of reconfigurable modular robots.
  136. Ke Wu, Shaowei Fan, Yuanfei Zhang, Zhao-Peng Chen, Hong Liu, Hegao Cai (2010). Research of a novel miniature tactile sensor for five-finger dexterous robot hand. IEEE International Conference on Mechatronics and Automation.DOI
  137. 戴士杰，周国香，岳宏，邓志鹏，蔡鹤皋（2009）. 光电混合机器人视觉系统中光寻址空间光调制器的噪音处理. 《光子学报》.
  138. 王卫忠，赵杰，高永生，蔡鹤皋（2008）. 机器人的平面曲线轨迹规划方法. 《哈尔滨工业大学学报》.
  139. 赵杰，魏延辉，蔡鹤皋（2008）. 新型可重构机器人分布式控制方法的研究. 《哈尔滨工业大学学报》.
  140. 王卫忠，赵杰，高永生，蔡鹤皋（2008）. 基于螺旋理论的可重构机器人动力学分析. 《机械工程学报》.
  141. 魏延辉，朱延和，赵杰，蔡鹤皋（2008）. 基于柔性化工作的可重构机器人系统设计. 《吉林大学学报(工学版)》.
  142. 魏延辉，赵杰，朱延河，蔡鹤皋（2008）. 新型可重构机器人逆运动学的研究(英文). 《西安电子科技大学学报》.
  143. 赵京东，姜力，蔡鹤皋，刘宏 (2008). A five-fingered underactuated prosthetic hand:hardware and its control scheme. Journal of Harbin Institute of Technology(New series).
  144. 樊继壮，朱延河，赵杰，蔡鹤皋（2008）. 三肢体机器人运动分析及规划. 《北京邮电大学学报》.
  145. 赵海文，岳宏，杜春红，蔡鹤皋（2008）. 基于主动视觉和超声的机器人目标跟踪系统. 《计算机工程》.
  146. 刘玉斌，赵杰，蔡鹤皋（2008）. 新型6-PRRS并联机器人运动学和动力学研究. 《吉林大学学报(工学版)》.
  147. Jie Zhao, Meng Wang, Xizhe Zang, Hegao Cai (2008). Biological Characteristics Analysis and Mechanical Jumping Leg Design for Frog Robot. Lecture notes in computer science.DOI
  148. Jie Zhao, Gangfeng Liu, Han Qing-hu, Hegao Cai (2008). A Wheeling-Hopping Combination Scout Robot. Lecture notes in computer science.DOI
  149. Xizhe Zang, Jie Zhao, Hegao Cai (2008). A Skill-Based Autonomous Control Method for Robotic Teleoperation. Lecture notes in computer science.DOI
  150. Yanhe Zhu, Jizhuang Fan, Qinxin Meng, Jie Zhao, Hegao Cai (2008). Transparency Oriented Virtual Coupling Design: New Approach and Application to a Novel Admittance Haptic Device. Lecture notes in computer science.DOI
  151. Zhenzhong Yu, Jihong Yan, Jie Zhao, Yongsheng Gao, Hegao Cai (2008). Architecture of Multi-Agent-Based Multi-Operator Multi-Mobile-Manipulator Teleoperation System. Lecture notes in computer science.DOI
  152. Cai He-gao (2008). Kinematics Analysis and Gait Planning of a Three-Limb Robot. Beijing Youdian Xueyuan xuebao.
  153. Hegao Cai (2008). Distributed control method of new type reconfigurable modular robot.
  154. Hegao Cai (2008). An approach for robot plane curve trajectory planning.
  155. Jie Zhao, Wei-zhong Wang, Yong-Sheng Gao, Hegao Cai (2008). Generation of closed-form inversekinematics for reconfigurable robots.DOI
  156. Yanhui Wei, De-Xin Xu, Yanbin Gao, Jie Zhao, Hegao Cai (2008). Dynamical Research Based on a New Type of Reconfigurable Robot. International Conference on Intelligent Robotics and Applications.DOI
  157. Zhen-Zhong Yu, Ji-Hong Yan, Jie Zhao, Yong-Sheng Gao, Hegao Cai（2008）. マルチエージェントベースのマルチ‐オペレータ・マルチ‐マニピュレータ遠隔操作システムのアーキテクチャ.
  158. Jing-Dong Zhao, Yiwei Liu, Hegao Cai, Hong Liu (2008). An improved algorithm of measuring extravehicular mobility unit (EMU) spacesuit joint damping parameters for the old passive robot system. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.DOI
  159. Hegao Cai (2008). Study on kinematics and dynamics of a novel 6-PRRS parallel robot.
  160. Hegao Cai (2008). Inverse kinematic research based on a new type of reconfigurable robot.
  161. 刘玉斌，赵杰，杨永刚，蔡鹤皋（2007）. 一种新型6-PRRS并联机器人正解研究. 《机械设计与制造》.
  162. 樊继壮，赵杰，王宾瑞，蔡鹤皋（2007）. 基于DSP的三肢体机器人关节控制器设计. 《机械设计与制造》.
  163. 秦勇，臧希喆，王晓宇，赵杰，蔡鹤皋（2007）. 基于MEMS惯性传感器的机器人姿态检测系统的研究. 《传感技术学报》.
  164. 樊继壮，赵杰，谷柏峰，蔡鹤皋（2007）. 三肢体机器人足部力传感器弹性体分析. 《传感技术学报》.
  165. 赵京东，姜力，蔡鹤皋，刘宏（2007）. 基于小波变换和样本熵的假手肌电模式识别方法. 《控制与决策》.
  166. 赵海文，岳宏，张雅丽，戴士杰，蔡鹤皋（2007）. 移动机器人运动目标跟踪系统设计. 《微计算机信息》.
  167. 赵杰，庞明，樊继壮，蔡鹤皋（2007）. 基于模糊规则的三肢体仿生机器人步态规划器. 《哈尔滨工业大学学报》.
  168. 赵杰，高永生，蔡鹤皋（2007）. 基于中间件技术的多机器人遥操作的虚拟环境. 《哈尔滨工业大学学报》.
  169. 赵杰，张玉华，朱延河，任宗伟，蔡鹤皋（2007）. 模块化自重构机器人蠕虫构型的运动控制. 《东南大学学报(自然科学版)》.
  170. 刘玉斌，赵杰，杨永刚，蔡鹤皋（2007）. 新型6-PRRS并联机器人工作空间与结构参数研究. 《机械设计》.
  171. 赵杰，赵剑，张玉华，蔡鹤皋（2007）. 一种模块化自重构机器人的设计与实现. 《机床与液压》.
  172. 樊继壮，赵杰，庞明，蔡鹤皋（2007）. 基于MSC1210的三肢体机器人足部控制系统. 《电子器件》.
  173. 刘玉斌，赵杰，杨永刚，蔡鹤皋（2007）. 一种新型6-PRRS并联机器人工作空间分析. 《机械与电子》.
  174. 李慨，岳宏，张毅，蔡鹤皋（2007）. 基于结构光焊缝图像预处理的研究. 《河北工业大学学报》.
  175. 赵杰，高胜，蔡鹤皋 (2007). Fuzzy reasoning model using fuzzy Petri Nets for the monitoring of robotic assembly. Journal of Harbin Institute of Technology(New series).
  176. 樊继壮，朱延河，赵杰，蔡鹤皋 (2007). Research on adsorption mechanism of wall climbing robots based on internally balanced theory. Journal of Harbin Institute of Technology(New series).
  177. 刘玉斌，赵杰，杨永刚，蔡鹤皋（2007）. 6-PRRS并联机器人正逆奇异性研究. 《西安交通大学学报》.
  178. 赵京东，姜力，刘宏，蔡鹤皋（2007）. 基于DSP的三自由度肌电假手实时控制方法. 《航空学报》.
  179. Hegao Cai (2007). Workspace Analysis of a Novel 6-PRRS Parallel Robot.
  180. Hegao Cai (2007). A fuzzy gait planner of a three-limbed robot.
  181. Hegao Cai (2007). Design and Realization of a Modular Self-reconfigurable Robot.
  182. Hegao Cai (2007). Study on working space and structural parameters of the new typed 6-PRRS parallel robot.
  183. Xizhe Zang, Jie Zhao, Hegao Cai (2007). Design of multisensory integration gripper system for internet-based teleoperation.
  184. Haiwen Zhao, Hegao Cai, H. Yue, Ya-Li Zhang (2007). Design of Distributed Ultrasonic Ranging System for Autonomous Mobile Robot Based on Multi-Processor. IEEE International Conference on Control and Automation.DOI
  185. Lingtao Yu, Jian Wang, Zhi-Jiang Du, Li-Ning Sun, Hegao Cai (2007). A Novel Method on Parallel Robot's Pose Measuring and Calibration. IEEE Conference on Industrial Electronics and Applications.DOI
  186. Hegao Cai (2007). Virtual environment with middleware technology for multiple telerobot system.
  187. Hegao Cai (2007). Elastic Body Analysis of Foot Force Sensor on a Three-Limb Robot.
  188. Hegao Cai (2007). Foot Control System Design of the Three Limb Robot Based on MSC1210.
  189. Hegao Cai (2007). Study on forward kinematics of a novel 6-PRRS parallel robot.
  190. 戴士杰，周国香，岳宏，蔡鹤皋（2006）. 基于光电混合实现机器人视觉传感器研究. 《仪器仪表学报》.
  191. 孙立宁，于凌涛，杜志江，蔡鹤皋（2006）. 并联机器人胡克铰工作空间的研究与应用. 《机械工程学报》.
  192. 赵杰，王卫忠，蔡鹤皋（2006）. 可重构机器人封闭形式的运动学逆解计算. 《机械工程学报》.
  193. 梁风，吴伟国，王瑜，蔡鹤皋（2006）. 改进型PYR全方位关节及在柔性臂中的应用. 《机械设计与制造》.
  194. 李慨，岳宏，赵海文，刘今越，蔡鹤皋（2006）. 基于虚拟仪器的管道环焊机器人测控系统. 《仪器仪表学报》.DOI
  195. 赵海文，岳宏，张雅丽，蔡鹤皋（2006）. 移动机器人分布式超声探测系统设计. 《河北工业大学学报》.
  196. 赵杰，王晓宇，秦勇，蔡鹤皋（2006）. 基于UKF的两轮自平衡机器人姿态最优估计研究. 《机器人》.
  197. 任倩，王树国，付宜利，蔡鹤皋（2006）. 机器人离线编程中虚拟现实人机接口研究. 《南京理工大学学报》.
  198. 臧希喆，赵杰，蔡鹤皋（2006）. 面向网络遥操作的多传感器集成手爪的设计. 《南京理工大学学报》.
  199. 于凌涛，孙立宁，杜志江，蔡鹤皋（2006）. 并联机器人误差检测与补偿的三平面法. 《哈尔滨工程大学学报》.
  200. 赵杰，王卫忠，蔡鹤皋（2006）. 可重构机器人工作空间的自动计算方法. 《天津大学学报(自然科学与工程技术版)》.
  201. 赵京东，姜力，金明河，刘宏，蔡鹤皋（2006）. 假手电机控制器及其控制软件的设计. 《微特电机》.
  202. 赵杰，王宾瑞，樊继壮，庞明，蔡鹤皋（2006）. 基于DSP的三肢体仿生机器人控制系统设计. 《机械与电子》.
  203. 赵京东，姜力，金明河，刘宏，蔡鹤皋（2006）. 基于肌电信号的仿人型假手控制. 《机械与电子》.
  204. 王卫忠，赵杰，吕常青，蔡鹤皋（2006）. 基于旋量和臂形标志的机器人运动学逆解计算. 《机械与电子》.
  205. 赵海文，岳宏，张雅丽，蔡鹤皋（2006）. 基于多微处理器的智能超声探测系统. 《数据采集与处理》.
  206. 高胜，赵杰，蔡鹤皋 (2006). Experimental study of Internet telerobotics based on virtual guides. Journal of Harbin Institute of Technology(New series).
  207. 闫继宏，赵杰，边信黔，蔡鹤皋 (2006). Multi-telerobot collaboration based on coordinated controller. Journal of Harbin Institute of Technology(New series).
  208. 高晓辉，史士才，赵大威，姜力，王智洋，蔡鹤皋，刘宏 (2006). HIT anthropomorphic robotic hand and finger motion control. Journal of Harbin Institute of Technology(New series).
  209. 高胜，赵杰，蔡鹤皋 (2006). Internet based design of distributed virtual environment for multi-robot teleoperation. Journal of Harbin Institute of Technology(New series).
  210. De-Gang Jie, Yan-Jie Liu, Li-Ning Sun, Zhi-Chao Chen, Hegao Cai (2006). A Novel High Speed/High Precision Displacement Measurement Method Using Double Grating Scales for a Macro/Micro Driven System: Principle Design and Experimental Verification. IEEE International Conference on Robotics and Biomimetics.DOI
  211. De-Gang Jie, Yan-Jie Liu, Li-Ning Sun, Hegao Cai (2006). Design Research of a Novel High Speed Nanometer Positioning System on Macro/Micro Driven for MEMS. International Symposium on Mechatronics and its Applications.DOI
  212. Hegao Cai (2006). Application for flexible arm of an improved PYR-type omni-directional joints and its.
  213. Da-Wei Zhao, Li Jiang, Hai Huang, Ming-He Jin, Hegao Cai, Hong Liu (2006). Development of a Multi-DOF Anthropomorphic Prosthetic Hand. IEEE International Conference on Robotics and Biomimetics.DOI
  214. Yu-Hua Zhang, Yan-He Zhu, Ji-Hong Yan, Jie Zhao, Hegao Cai (2006). Simulation Research on Reconfiguration Locomotion Planning for a 3-D Self-reconfigurable Robot. World Congress on Intelligent Control and Automation.DOI
  215. Jizhuang Fan, Ji-Hong Yan, Jie Zhao, Hegao Cai (2006). Study on the Robot with Limb Mechanism. World Congress on Intelligent Control and Automation.DOI
  216. Hegao Cai (2006). Virtual Reality Human-machine Interface in Robot Off-line Programming.
  217. Jing-Dong Zhao, Li Jiang, Hegao Cai, Hong Liu, G. Hirzinger (2006). A Novel EMG Motion Pattern Classifier Based on Wavelet Transform and Nonlinearity Analysis Method. IEEE International Conference on Robotics and Biomimetics.DOI
  218. Ji-Hong Yan, Yan-He Zhu, Jie Zhao, Hegao Cai (2006). Task Planner Design Based on Petri Net for Multi-robot Teleoperation over Internet. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.DOI
  219. Hegao Cai (2006). STUDY AND APPLICATION OF WORKSPACE ON HOOKE JOINT IN PARALLEL ROBOT.
  220. Hegao Cai (2006). Prosthetic Hand Control Based on EMG Signals.
  221. Yan-He Zhu, Ji-Hong Yan, Jie Zhao, Hegao Cai (2006). Autonomous Kinematic Self-Calibration of a Novel Haptic Device. IEEE/RJS International Conference on Intelligent RObots and Systems.DOI
  222. Hegao Cai (2006). Three planes method on measuring and compensation of parallel robot.
  223. Hegao Cai (2006). Manipulator Inverse Kinematics Based on Screw and Arm Configuration.
  224. Jie Zhao, Weizhong Wang, Yongsheng Gao, Hegao Cai (2006). Generation of closed-form inverse kinematics for reconfigurable robots.DOI
  225. Hai Huang, Li Jiang, Da-Wei Zhao, Jing-Dong Zhao, Hegao Cai, Hong Liu, P. Meusel, B. Willberg, G. Hirzinger (2006). The Development on a New Biomechatronic Prosthetic Hand Based on Under-actuated Mechanism. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.DOI
  226. Hegao Cai (2006). Design of the Three Limb Bionic Robot Control System Based on DSP.
  227. Hegao Cai (2006). GAIT ENERGY OPTIMIZATION OF THREE-LIMBED ROBOT BASED ON GENERATION ALGORITHM.
  228. Yong Qin, Xizhe Zang, Yubin Liu, Jie Zhao, Xiao-Yu Wang, Hegao Cai (2006). Research of Trajectory Tracking Control of Two-Wheeled Self-Balance Robot. World Congress on Intelligent Control and Automation.DOI
  229. Hegao Cai (2006). Multi-agent Based Multi-robot Network Control Architecture.
  230. Hegao Cai (2006). Design of Prosthetic Hand Controller and its Software.
  231. Jing-Dong Zhao, Li Jiang, Shi-Cai Shi, Hegao Cai, Hong Liu, G. Hirzinger (2006). A Five-fingered Underactuated Prosthetic Hand System. International Symposium on Mechatronics and its Applications.DOI
  232. Jing-Dong Zhao, Zong-Wu Xie, Li Jiang, Hegao Cai, Hong Liu, G. Hirzinger (2006). EMG Control for a Five-fingered Prosthetic Hand Based on Wavelet Transform and Autoregressive Model. International Symposium on Mechatronics and its Applications.DOI
  233. Hegao Cai (2006). Gait Optimization of A Novel Tripedal Robot.
  234. Jing-Dong Zhao, Zong-Wu Xie, Li Jiang, Hegao Cai, Hong Liu, G. Hirzinger (2006). EMG Control for a Five-fingered Underactuated Prosthetic Hand Based on Wavelet Transform and Sample Entropy. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.DOI
  235. X.-H. Gao, Ming-He Jin, Z.-W. Xie, L. Jiang, Fenglei Ni, Shi-Cai Shi, R. Wei, Y.-Y. Zhu, Hegao Cai, H. Liu, A. Beyer, E. Kraemer, K. Landzettel, J. Schott, G. Hirzinger (2006). Development of the Chinese Intelligent Space Robotic System. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.DOI
  236. Hegao Cai (2006). NOVEL MODULAR SELF-RECONFIGURABLE ROBOT SYSTEM.
  237. Hegao Cai (2006). Algorithms for Automatically Determining Workspace of Reconfigurable Robots.
  238. Jing-Dong Zhao, Zong-Wu Xie, Li Jiang, Hegao Cai, Hong Liu, G. Hirzinger (2006). A Five-fingered Underactuated Prosthetic Hand Control Scheme. The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006..DOI
  239. Hegao Cai (2006). UKF-based Optimal Attitude Estimation of Two-wheeled Self-balanced Robots.
  240. Hai Huang, Li Jiang, Yiwei Liu, Linqi Hou, Hegao Cai, Hong Liu (2006). The Mechanical Design and Experiments of HIT/DLR Prosthetic Hand. IEEE International Conference on Robotics and Biomimetics.DOI
  241. Yubin Liu, Yongsheng Gao, Jie Zhao, Hegao Cai, Yong-Gang Yang (2006). Singularity Analysis of a 6-PRRS Parallel Robot Based on Geometrical Method. World Congress on Intelligent Control and Automation.DOI
  242. Jie Zhao, Yanhui Wei, Jizhuang Fan, Jun Shen, Hegao Cai (2006). New Type Reconfigurable Modular Robot Design and Intelligent Control Method Research. World Congress on Intelligent Control and Automation.DOI
  243. 姜力，蔡鹤皋，刘宏（2005）. 多指灵巧手的位置/力矩控制. 《控制理论与应用》.
  244. 何平，高晓辉，杨磊，刘宏，蔡鹤皋（2005）. H IT/DLR多指手抓取操作研究. 《哈尔滨工业大学学报》.
  245. 闫继宏，赵杰，蔡鹤皋（2005）. 基于Petri网的Internet多机器人协调控制器设计. 《哈尔滨工业大学学报》.
  246. 节德刚，孙立宁，曲东升，王力，蔡鹤皋（2005）. 压电陶瓷微位移系统的模糊PID控制方法. 《哈尔滨工业大学学报》.
  247. 戴学丰，孙立宁，蔡鹤皋（2005）. 柔性臂机器人定位过程模糊滑模控制研究. 《哈尔滨工业大学学报》.
  248. 赵杰，高胜，闫继宏，高永生，蔡鹤皋（2005）. 基于虚拟向导的多操作者多机器人遥操作系统. 《哈尔滨工业大学学报》.
  249. 朱延河，赵杰，蔡鹤皋（2005）. 一种新并联主手的灵巧度分析. 《哈尔滨工业大学学报》.
  250. 赵杰，刘玉斌，蔡鹤皋（2005）. 一种运动旋量逆解子问题的求解及其应用. 《机器人》.
  251. 节德刚，刘延杰，孙立宁，孙绍云，蔡鹤皋（2005）. 一种宏微双重驱动精密定位机构的建模与控制. 《光学精密工程》.
  252. 朱延河，赵杰，蔡鹤皋（2005）. Delta机构的闭环自标定方法研究. 《西安交通大学学报》.
  253. 张亮，赵杰，蔡鹤皋（2005）. 自重构机器人的硬件设计及自重构规划研究. 《东南大学学报(自然科学版)》.
  254. 高胜，赵杰，蔡鹤皋（2005）. 基于Internet和Java3D的多机器人操作虚拟环境. 《北京航空航天大学学报》.
  255. Jing-Dong Zhao, Zong-Wu Xie, Li Jiang, Hegao Cai, Hong Liu, G. Hirzinger (2005). Levenberg-Marquardt Based Neural Network Control for a Five-fingered Prosthetic Hand. Proceedings of the 2005 IEEE International Conference on Robotics and Automation.DOI
  256. Hegao Cai (2005). Controller design based on Petri net for internet multi-robot coordination.
  257. 姜力，刘宏，蔡鹤皋 (2005). Cartesian impedance control of dexterous robot hand. Journal of Harbin Institute of Technology(New series).
  258. De-Gang Jie, Li-Ning Sun, Yan-Jie Liu, Yu-Hong Zhu, Hegao Cai (2005). Design and simulation of a macro-micro dual-drive high acceleration precision XY-stage for IC bonding technology. International Conference on Electronic Packaging Technology.DOI
  259. 赵杰，高永生，蔡鹤皋 (2005). Safety architecture of internet based multi-robot teleoperation system. Journal of Harbin Institute of Technology(New series).
  260. Hegao Cai (2005). Dexterity analysis of a novel double-parallel haptic interface.
  261. Hegao Cai (2005). Rudder Servo Controller Design for Hexapod Robot.
  262. Y.-W. Liu, Ming-He Jin, R. Wei, Hegao Cai, H. Liu, N. Seitz, R. Gruber, G. Hirzinger (2005). Embedded FPGA-based control of the HIT/DLR hand. Proceedings, 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics..DOI
  263. Xiao-Hui Xie, Li-Ning Sun, Zhi-Jiang Du, Hegao Cai (2005). Internet-based event synchronization communication driven telerobotics.
  264. Hegao Cai (2005). Solution for One Type of Inverse Kinematics Sub-problem in Screw Theory and Its Application.
  265. Yan-Jie Liu, Li-Ning Sun, De-Gang Jie, Zhenwei An, Hegao Cai (2005). Fast-motion trajectory generation for a new direct-drive planar parallel manipulator. Proceedings, 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics..DOI
  266. Xiao-Wei Ma, Yun-Fei Ma, Hegao Cai, O. Khatib (2005). The fuzzy navigator with a local minima solver for real-time self-reaction of a mobile robot in flexible manufacturing cell/system (FMC/FMS). IEEE International Conference on Systems, Man and Cybernetics.DOI
  267. Hegao Cai (2005). Sliding mode control with fuzzy compensation for two-link flexible manipulators.
  268. Li Jiang, Hegao Cai (2005). Position/torque control of multi-fingered dexterous hand.
  269. Hegao Cai (2005). Design of the Mechanism of Humanoid Prosthetic Hand for Handicapped.
  270. Hegao Cai (2005). Modeling and control of a macro-micro dual-drive ultra-precision positioning mechanism.
  271. Yong-Sheng Gao, Jie Zhao, Ji-Hong Yan, Yan-He Zhu, Hegao Cai (2005). Multi-robot tele-operation system based on multi-agent structure. IEEE International Conference Mechatronics and Automation, 2005.DOI
  272. 高胜，赵杰，蔡鹤皋 (2005). Collaborative task planning for an internet based multi-operator multi-robot system. Journal of Harbin Institute of Technology(New series).
  273. Hegao Cai (2005). Multi-operator and multi-robot teleoperation system based on virtual guide.
  274. Hegao Cai (2005). Self - organizing fuzzy control and its applications to robots.
  275. Hegao Cai (2005). Fuzzy-reasoning based self-tuning PID control for piezoelectric micro-displacement system.
  276. Jizhuang Fan, Jie Zhao, Hegao Cai (2005). Mechanical design of three-limb robot's foot. ICMIT: Mechatronics and Information Technology.DOI
  277. 孙立宁，孙绍云，荣伟彬，蔡鹤皋（2004）. 基于PZT的宏/微驱动机器人研究. 《哈尔滨工业大学学报》.
  278. 孙绍云，曲东升，孙立宁，王力，蔡鹤皋（2004）. 宏/微驱动定位系统滑模变结构控制的研究. 《机器人》.
  279. 刘延杰，孙立宁，蔡鹤皋，裴润（2004）. 谐波驱动并联机器人的加速度反馈抑振控制. 《哈尔滨工业大学学报》.
  280. 杨磊，高晓辉，刘宏，蔡鹤皋（2004）. 基于指尖力传感器的HIT机器人灵巧手笛卡尔阻抗控制. 《控制与决策》.
  281. 姜力，蔡鹤皋，刘宏（2004）. 新型微直线驱动器的设计和控制. 《哈尔滨工业大学学报》.
  282. 姜力，刘宏，蔡鹤皋（2004）. 多维力/力矩传感器静态解耦的研究. 《仪器仪表学报》.
  283. Yong-Sheng Gao, Jie Zhao, Hegao Cai (2004). Safety in multi-robot teleoperation system through Internet. IEEE International Conference on Robotics and Biomimetics.DOI
  284. Ji-Hong Yan, Jie Zhao, Hegao Cai (2004). Coordinated controller of Internet-based multi telerobot cooperation. IEEE/RJS International Conference on Intelligent RObots and Systems.DOI
  285. Hegao Cai (2004). Research on the Application of Multi-agent Simulation Technology in Multi-robot System.
  286. Hegao Cai (2004). Decelopment and Application of Robot Techniques in Manufacture.
  287. Hegao Cai (2004). Micro-drive positioning system based on PZT and its control.
  288. 赵杰，高胜，蔡鹤皋 (2004). Discrete-event modeling for internet multi-robotics. Journal of Harbin Institute of Technology(New series).
  289. L. Zhang, Jie Zhao, Hegao Cai (2004). A substructure based motion planning method for a modular self-reconfigurable robot. Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891).DOI
  290. Hegao Cai (2004). Modeling and simulation for suppressing vibration of a dual driving flexible manipulator.
  291. P. He, Ming-He Jin, L. Yang, R. Wei, Yiwei Liu, Hegao Cai, Hong Liu, N. Seitz, J. Butterfaß, G. Hirzinger (2004). High performance DSP/FPGA controller for implementation of HIT/DLR dexterous robot hand. IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.DOI
  292. Hegao Cai (2004). SLIDING MODE VARIABLE STRUCTURE CONTROL OF A MACRO/MICRO DRIVE POSITIONING SYSTEM.
  293. 王晓宇，赵杰，蔡鹤皋 (2004). Dynamic and control system analysis of two-wheeled robot for welding application. China Welding.
  294. Hegao Cai (2004). Acceleration feedback control for resisting vibration of new harmonic drive parallel robot.
  295. Liang Zhang, Jie Zhao, Hegao Cai (2004). Research on mechanism design and motion planning of a modular self-reconfigurable robot. Fifth World Congress on Intelligent Control and Automation (IEEE Cat. No.04EX788).DOI
  296. 荣伟彬，曲东升，祝宇虹，孙立宁，蔡鹤皋（2003）. 集成式微操作器控制系统的研制. 《电气自动化》.
  297. 任倩，王树国，陈祥立，付宜利，蔡鹤皋（2003）. 面向机器人离线编程的真实感虚拟环境生成. 《组合机床与自动化加工技术》.
  298. 赵杰，朱延河，蔡鹤皋（2003）. Delta型并联机器人运动学正解几何解法. 《哈尔滨工业大学学报》.
  299. 朱延河，赵杰，蔡鹤皋（2003）. 一种新型双并联主操作手构型设计. 《机械设计》.
  300. 任倩，王树国，陈祥立，付宜利，蔡鹤皋（2003）. 基于虚拟现实的机器人离线编程技术的研究. 《机器人》.
  301. Sheng Gao, Jie Zhao, Hegao Cai (2003). Genetic algorithm based path planning of coordinated multi-robot manipulators. IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003.DOI
  302. Jia-Wei Li, Hong Liu, Hegao Cai (2003). On computing three-finger force-closure grasps of 2-D and 3-D objects. IEEE Trans. Robotics Autom..DOI
  303. Hong Wang, X.-H. Gao, Ming-He Jin, Li-Bin Du, Jian-Guo Zhao, Hao-Peng Hu, Hegao Cai, T.-Q. Li, H. Liu (2003). A passive robot system for measuring spacesuit joint damping parameters. IEEE International Conference on Robotics and Automation.DOI
  304. Yongshun Zhang, Zhen-Yuan Jia, Wei Liu, F. Zhao, D. Guo, Zong-Quan Deng, Li-Ning Sun, Hegao Cai (2003). Study on magnetic and mechanical dynamic model of a wireless micro robot. IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003.DOI
  305. 荣伟彬，曲东升，孙立宁，楼朝飞，蔡鹤皋 (2003). Modeling for integrated micromanipulator. Journal of Harbin Institute of Technology(New series).
  306. Hegao Cai (2003). Geometric solution for direct kinematics of delta parallel robot.
  307. 李家炜，刘宏，蔡鹤皋 (2003). Computation of three-finger equilibrium and force-closure grasps. Journal of Harbin Institute of Technology(New series).
  308. Li Jiang, Ming-He Jin, X.-H. Gao, Zong-Wu Xie, Li-Dong Yang, Ping He, Yong-Bei Liu, R. Wei, Hegao Cai, Hong Liu, N. Seitz, M. Grebenstein, G. Hirzinger (2003). Multisensory HIT/DLR dexterous robot hand. IEEE International Conference on Advanced Intelligent Mechatronics.DOI
  309. Hegao Cai (2003). Position/torque control for joint of humanoid dextrous hand.
  310. Hegao Cai (2003). Research on Mechanism Design of a Homogenous Lattice Modular SelfReconfigurable Robot.
  311. Hegao Cai (2003). Integrated and Miniature Six Degrees of Freedom Force/Torque Sensor With Fully Digital Output.
  312. Hegao Cai (2003). Design of Robot Multi-Sensor Integration System Based on CORBA.
  313. Hegao Cai (2003). RESEARCH ON ROBOT OFF-LINE PROGRAMMING BASED ON VIRTUAL REALITY.
  314. X.-H. Gao, Ming-He Jin, Li Jiang, Zong-Wu Xie, P. He, L. Yang, Yiwei Liu, R. Wei, Hegao Cai, Hong Liu, J. Butterfaß, M. Grebenstein, N. Seitz, G. Hirzinger (2003). The HIT/DLR dexterous hand: work in progress. IEEE International Conference on Robotics and Automation.DOI
  315. 高胜，赵杰，蔡鹤皋 (2003). Adaptive genetic algorithm for path planning of loosely coordinated multi-robot manipulators. Journal of Harbin Institute of Technology(New series).
  316. 孙立宁，荣伟彬，刘品宽，蔡鹤皋（2002）. 主从式遥微操作机器人力反馈控制系统的研究. 《机器人》.
  317. 郑一，吴伟国，蔡鹤皋（2002）. 一种机构解析软件及其在新型类人机器人研究中的应用. 《机器人技术与应用》.
  318. 孙立宁，孙绍云，荣伟彬，蔡鹤皋（2002）. 微操作机器人的发展现状. 《机器人》.
  319. 姜力，刘宏，蔡鹤皋，高晓辉（2002）. 基于神经网络的多维力传感器静态解耦的研究. 《中国机械工程》.
  320. 赵杰，李戈，蔡鹤皋（2002）. 基于PUMA机器人的视觉伺服控制实验研究. 《哈尔滨工业大学学报》.
  321. 孙立宁，于晖，祝宇虹，张秀峰，蔡鹤皋（2002）. 机构影响系数和并联机器人雅克比矩阵的研究. 《哈尔滨工业大学学报》.
  322. 赵杰，闫继宏，蔡鹤皋（2002）. 基于Internet多操作者多机器人的遥操作系统的研究. 《机器人》.
  323. 于晖，孙立宁，刘品宽，蔡鹤皋（2002）. 新型6-HTRT并联机器人工作空间和参数研究. 《机器人》.
  324. 陈伟，侯琳祺，蔡鹤皋（2002）. 基于便携式机器人系统的可靠度配置策略的研究. 《机器人》.
  325. 崔泽，赵杰，崔岩，蔡鹤皋 (2002). An object oriented multi-robotic graphic simulation environment for programming the welding tasks. China Welding.
  326. Xuefeng Dai, Li-Ning Sun, Hegao Cai (2002). On singular perturbation based inverse dynamics control for a two-link flexible manipulator.DOI
  327. Hegao Cai (2002). A survey of control algorithms for flexible link manipulators.
  328. 赵明国，赵杰，崔泽，蔡鹤皋（2001）. 一种基于Internet的遥操作机器人系统——Telerobot. 《哈尔滨工业大学学报》.
  329. 高晓辉，蔡鹤皋（2001）. 随动接触式三维信息输入系统的研究. 《机器人》.
  330. 姜力，蔡鹤皋，刘宏（2001）. 基于滑模位置控制的机器人灵巧手模糊自适应阻抗控制. 《控制与决策》.
  331. W. Rong, Li-Ning Sun, Dongsheng Qu, Tao Zhang, Hegao Cai (2001). Research on micromanipulating robot based on micro parts assembly.
  332. Hegao Cai (2001). Hardware System Design of a 3 D.O.F Haptic Interface Device.
  333. 张永顺，邓宗全，姜生元，蔡鹤皋，侯人杰（2000）. 管内机器人移动载体机电动力学驱动特性的研究. 《机器人》.
  334. 陈虹，张超群，蔡鹤皋（2000）. 机器人性能测试仪分辨率及精度的分析. 《机电一体化》.
  335. 陈伟，侯琳祺，蔡鹤皋（2000）. 工业机器人系统可靠度分配策略的研究. 《机械与电子》.
  336. 陈伟，侯琳祺，蔡鹤皋（2000）. 两种便携式弧焊机器人系统可靠度优化分配方法. 《哈尔滨工业大学学报》.
  337. 陈虹，张超群，蔡鹤皋（2000）. 工业机器人性能测试仪分辨率及位置精度的分析. 《机电工程》.
  338. 陈伟，侯琳祺，蔡鹤皋（2000）. 串联工业机器人系统可靠度的一种两级优化分配及其算法. 《高技术通讯》.
  339. 乔桂秀，董玉春，王树国，蔡鹤皋（2000）. 虚拟制造中的多机器人作业仿真平台. 《哈尔滨工业大学学报》.
  340. 赵春霞，盛安冬，杨静宇，王树国，蔡鹤皋，Y.F.Li（2000）. 基于多AGENT的分布式操作臂控制. 《机器人》.
  341. 赵春霞，盛安冬，杨静宇，王树国，蔡鹤皋，Y.F.Li（2000）. 虚拟触觉传感器的仿真模型研究. 《机器人》.
  342. 李家炜，刘宏，蔡鹤皋（2000）. 多指机器人手协调控制研究进展. 《机器人》.
  343. 赵春霞，盛安冬，杨静宇，Y.F.Li，王树国，蔡鹤皋（2000）. 虚拟传感器的建模与实现. 《机器人》.
  344. 侯琳祺，陈伟，蔡鹤皋（2000）. 一种面向工业机器人系统可靠度配置的定量评价方法. 《高技术通讯》.
  345. 蔡鹤皋，金明河，金峰（2000）. 卡尔曼滤波与多传感器数据融合技术. 《模式识别与人工智能》.
  346. 金峰，蔡鹤皋（2000）. 机器人IMU与激光扫描测距传感器数据融合. 《机器人》.
  347. Hegao Cai (2000). Robot Will be a Hot Spot of Technological Development in the Twenty First Century.
  348. 王亚波，鲍青山，王树国，蔡鹤皋 (2000). Detecting of moving obstacles by limiting robot motion as translation. Journal of Harbin Institute of Technology(New series).
  349. 李家炜，谢宗武，蔡鹤皋 (2000). Coordinated control and autonomous grasp with multifingered robot hands. Journal of Harbin Institute of Technology(New series).
  350. 吴宪，马光，吴伟国，蔡鹤皋（1999）. 具有全局特性的冗余度机器人逆解. 《自动化技术与应用》.
  351. 付庄，于克伟，鲍青山，王树国，蔡鹤皋（1999）. EasyPack仿真器在智能机器人控制系统设计中的应用. 《自动化技术与应用》.
  352. 樊滨温，张炯，吕伟新，蔡鹤皋，王忠立（1999）. 遥操作空间机器人系统研究. 《哈尔滨工业大学学报》.
  353. 孙立宁，徐文军，安辉，蔡鹤皋（1999）. 一种新型6-DOF并联机器人研究. 《哈尔滨工业大学学报》.
  354. 吴伟国，邓喜君，蔡鹤皋（1999）. 七自由度仿人手臂双臂一体机器人协调运动学研究. 《哈尔滨工业大学学报》.
  355. 冯禹，马玉林，蔡鹤皋（1999）. 面向机器人装配的DFA模糊评价方法. 《机器人》.
  356. 赵春霞，Y.F.Li，王树国，蔡鹤皋，杨静宇（1999）. 虚拟现实的发展及在机器人系统中的应用与研究. 《机器人》.
  357. 孙立宁，徐文军，蔡鹤皋（1999）. 基于模糊CMAC神经网络的并联机器人自适应力控制研究. 《机器人》.
  358. 岳宏，孙立新，蔡鹤皋（1999）. 基于结构光的机器人焊接实时图像处理方法的研究. 《机器人》.
  359. 黄闪，蔡鹤皋，谈大龙（1999）. 面向装配作业的多机器人合作协调系统. 《机器人》.
  360. 冯禹，马玉林，蔡鹤皋（1999）. 面向自动化装配的DFA评价技术. 《智能制造》.
  361. 张涛，孙立宁，蔡鹤皋 (1999). Control model for experiments on piezoelectric and electrostrictive elements. Journal of Harbin Institute of Technology(New series).
  362. Yu Feng, Yu-Lin Ma, Hegao Cai (1999). DFA evaluation considered Robotic assembly motion stability.
  363. Xiao-Wei Ma, Yi-Li Fu, Yu-Fei Yuan, Wei Wang, Yu-Lin Ma, Hegao Cai (1999). The path planning of mobile manipulator with genetic-fuzzy controller in flexible manufacturing cell. Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).DOI
  364. 张永顺，邓宗全，毕德学，吴湘，蔡鹤皋，吴乃芮，姜祖周（1998）. 一种可越过管内凹形障碍的双驱动多轮移动载体的研究. 《机器人》.
  365. 孙立宁，张涛，蔡鹤皋，王焕（1998）. 压电/电致伸缩陶瓷控制模型归一化的研究. 《哈尔滨工业大学学报》.
  366. 李铁军，岳宏，蔡鹤皋（1998）. 基于电流变流体的机器人柔顺指端接触模型的研究. 《机器人》.
  367. 王伟，杨扬，原魁，马玉林，蔡鹤皋（1998）. 机器人C-空间障碍边界建模与无碰路径规划. 《机器人》.
  368. 徐文军，孙立宁，安辉，蔡鹤皋（1998）. 旋转输入型并联机器人位置逆解分析的轨迹圆法. 《机器人》.
  369. 吴伟国，邓喜君，蔡鹤皋（1998）. 基于直齿轮传动和双环解耦的柔性手腕原理与运动学分析. 《机器人》.
  370. 张超群，蔡鹤皋，李清源（1998）. PLC在机器人码垛生产线中的应用. 《电气自动化》.
  371. 杨晓东，赵杰，蔡鹤皋（1998）. 机器人作业对象三角形网格模型的建立. 《哈尔滨工业大学学报》.
  372. 孙立宁，安辉，张涛，蔡鹤皋（1998）. 微动机器人运动学分析的基础研究. 《仪器仪表学报》.
  373. 陈卫东，席裕庚，蔡鹤皋（1998）. 力觉临场感遥操作系统的双向控制. 《机器人》.
  374. 徐世新，蔡鹤皋，王永洁（1998）. 一个特征设计与识别集成的建模系统HIT-FTB. 《哈尔滨工业大学学报》.
  375. Xiao-Wei Ma, Xiao-Li Li, Yu-Lin Ma, Hegao Cai (1998). Real-time self-reaction of mobile robot with genetic fuzzy neural network in unknown environment. IEEE International Conference on Systems, Man and Cybernetics.DOI
  376. Qi Wang, Tao Qian, Linqi Hou, Hegao Cai (1998). Online learning neural network controller for pneumatic robot position control. SMC'98 Conference Proceedings. 1998 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.98CH36218).DOI
  377. 王全玉，赵杰，冉祥来，蔡鹤皋 (1998). A Six DOF Compliant Force/Torque Sensor. Journal of Harbin Institute of Technology(New series).
  378. 王树国，丁希仑，蔡鹤皋（1997）. 空间柔性机械臂的逆动力学仿真. 《机器人》.
  379. 丁希仑，王树国，蔡鹤皋（1997）. 空间机器人逆动力学实时仿真技术的研究. 《制造业自动化》.
  380. 朱铁一，洪炳熔，蔡鹤皋（1997）. 机器人卫星地面实验平台全局视觉系统. 《机器人》.
  381. 尤波，张永军，蔡鹤皋（1997）. 任意凸形销孔零件及多销孔零件装配策略与实验研究. 《机器人》.
  382. 丁希仑，王树国，蔡鹤皋（1997）. 空间机器人柔性臂的动力学轨迹跟踪控制. 《机器人》.
  383. 张超群，邓喜君，蔡鹤皋（1997）. 基于PLC的橡胶包装码垛生产线控制系统设计. 《高技术通讯》.
  384. Hegao Cai, Li-Ning Sun, Hui An (1997). Theory and practice: micro manipulating robot. 1997 IEEE International Conference on Systems, Man, and Cybernetics. Computational Cybernetics and Simulation.DOI
  385. 蔡鹤皋，陈卫东，贾国武，赵杰 (1997). Research on Master-slave Telerobot Force Telepresence Technology. Journal of Harbin Institute of Technology(New series).
  386. 王全玉，赵杰，蔡鹤皋（1996）. 六维柔性腕力传感器的设计研究. 《机器人》.
  387. 吴瑞珉，刘廷荣，陶建国，蔡鹤皋（1996）. 冗余度机器人操作机运动学及其设计的研究. 《机器人》.
  388. 吴瑞珉，刘廷荣，陶建国，蔡鹤皋（1996）. 冗余度机器人操作机伪逆控制重复性研究. 《机器人》.
  389. 孔令富，黄真，蔡鹤皋（1996）. 容错技术在并联机器人控制系统中的应用. 《电气自动化》.
  390. Rui-fen Li, Qiang Tao, Hegao Cai, Linqi Hou (1996). An Automatic Test System in Robot Welding Station.
  391. Li-Ning Sun, Hui An, Hegao Cai (1996). Study of the Characteristics of Piezoelectric Elements.
  392. Hegao Cai (1996). REVIEW OF STUDY ON THE REPEATABILITY OF REDUNDANT MANIPULATORS UNDER PSEUDOINVERSE CONTROL.
  393. Ling-Fu Kong, Zhen Huang, Hegao Cai, Hong-Yu Jia (1996). Research of Parallel Robot Program Grade Motion Control.
  394. 于殿勇，孙序梁，蔡鹤皋（1995）. 蠕动式管内移动机器人模型Ⅱ及其行走姿态. 《自动化技术与应用》.
  395. 陈卫东，郑涌，刘丹军，蔡鹤皋（1995）. 神经网络自适应的机器人位置/力混合控制系统. 《模式识别与人工智能》.
  396. 于殿勇，孙序梁，蔡鹤皋（1995）. 蠕动式管内移动机器人的研究. 《机器人技术与应用》.
  397. Jin-Song Liu, Hegao Cai (1995). Manufacture of End－micro－manipulator with Two Degrees of Freedom and its Driving System for Robot.
  398. Li-Ning Sun, Hui An, Su Jiang, Hegao Cai (1995). Application of Piezoelectric Manipulator in Fine Manipulation.
  399. Ka-Lin Liu, Yu-Lin Ma, Hegao Cai, Tie-Jun Li (1995). Hierarchical simulation of FMS. Other Conferences.DOI
  400. Chun Zhao, Yi-Li Fu, Shu-Guo Wang, Jing Wu, Hegao Cai (1995). An Object-Oriented Robot Programming and Simulation System.
  401. Yongping Zheng, Weidong Chen, B. You, Hegao Cai (1995). Robotic hybrid position/force control using artificial neural network. Other Conferences.DOI
  402. 毕诸明，蔡鹤皋（1994）. 空间开环机构综合及其位置结构优化. 《机械设计》.
  403. 孔令富，黄真，蔡鹤皋（1994）. 6-DOF液压并联机器人MRACS的研究. 《1994中国控制与决策学术年会论文集》.
  404. 蔡鹤皋（1994）. 工业机器人的发展趋势. 《自动化技术与应用》.
  405. 孔令富，原福永，黄真，蔡鹤皋（1994）. 一种只利用对象输入输出值设计的液压并联机器人MRACS. 《电气自动化》.
  406. Hegao Cai, Li-Ning Sun（1994）. 压电／电致伸缩微位移器件与应用 上.
  407. Hegao Cai, Li-Ning Sun, Hui An, Tao Zhang (1994). A two-dimensional electrostrictive worktable for robot precise assembly. International Conference on Industrial Technology.DOI
  408. 张继禹，蔡鹤皋，王树国，付宜利，马玉林（1993）. 一个大型机器人仿真系统-ROBCAD. 《哈尔滨工业大学学报》.
  409. 吴洪涛，蔡鹤皋，刘又午（1993）. 冗余多体系统优化目标函数的研究. 《哈尔滨工业大学学报》.
  410. 戴铁成，蔡鹤皋，吴林（1993）. 机器人力控制器的鲁棒性设计及其在装配作业中的应用. 《控制理论与应用》.
  411. 孔令富，黄真，原福永，蔡鹤皋（1993）. 6-DOF液压并联机器人运动轨迹自适应控制. 《自动化技术与应用》.
  412. 吴洪涛，蔡鹤皋，刘又午（1993）. 工业机器人关节动态误差分析. 《哈尔滨工业大学学报》.
  413. 杨挺，赵杰，蔡鹤皋（1993）. 一种具有力觉的机器人装配系统. 《机器人》.
  414. 戴铁成，蔡鹤皋，吴林（1993）. 机器人结构动力学对其力控制系统的影响. 《机器人》.
  415. Hegao Cai, Jie Zhao, Li-Ning Sun, Hui An, Ting Yang (1993). Automatic Precision Assembly: Theory and Practice.DOI
  416. Hegao Cai (1993). A ROBOTIC ASSEMBLY SYSTEM BASED ON FORCE FEEDBACK.
  417. 张继禹，蔡鹤皋，王树国，付宜利，马玉林（1992）. 智能机器人机构 CAD 及仿真系统——IRSS. 《机器人》.
  418. Hegao Cai, Li-Ning Sun, Ting Yang (1992). A Novel Force-controlled Active/passive Integrated Micro Manipulator. Singapore International Conference on Intelligent Control and Instrumentation [Proceedings 1992].DOI
  419. Hegao Cai, Ting Yang, Jie Zhao (1992). The implementation of active/passive coordinated manipulation in precision assembly based on force-feedback. Proceedings of the IEEE International Symposium on Industrial Electronics.DOI
  420. Hegao Cai, Quan Zheng (1992). The Study of Macro/Micro Manipulator System for Fine Manipulation Quality and Reliability.DOI
  421. 杨挺，蔡鹤皋（1991）. 机器人操作手准静定功率方程及其分析. 《机器人》.
  422. Hegao Cai, Ting Yang (1991). A new robotic assembly strategy and its implementation. IEEE/RJS International Conference on Intelligent RObots and Systems.DOI
  423. 李清源，蔡鹤皋（1988）. 机器人非线性摩擦力补偿与控制. 《自动化技术与应用》.
  424. Chi-Qian Xie, Qing-Yuan Li, Hegao Cai (1988). A New Hybrid Position/force Control Method For Robots. Proceedings of the 1988 IEEE International Conference on Systems, Man, and Cybernetics.DOI
  425. 肖俊伟，蔡礼君，蔡鹤皋，袁哲俊（1987）. 弧焊机器人五维自我示教系统的设计. 《机器人》.
  426. 肖俊伟，蔡鹤皋（1985）. 机器人运动学的计算机辅助设计系统. 《哈尔滨工业大学学报》.

研究方向

自动化技术机械工业仪器仪表工业

此主页由公开资料整理，尚未经学者本人认领。