胡正涛｜上海大学｜学者主页

2026

1D2L: One-Arm Drag and Two-Arm Lift for Manipulating Large and Heavy Tabletop Objects

Meijie Zhou, Jianjun Yuan, Zhengtao Hu, Sheng Bao, Liang Du

IEEE Robotics and Automation Letters

DOI

2026

Automatic Transport System for Replacing Disc Cutters in Tunnel Boring Machine

Liang Du, Zhengtao Hu, Sheng Bao, Jianjun Yuan

Journal of Field Robotics

DOI

2026

Clearance-Adaptive Grasping of Clustered Objects Using Pin-Array Robotic Fingers Under Uncertainty

Zhengtao Hu, Yuyao Chen, Liang Du, Sheng Bao, Weiwei Wan, Kensuke Harada, Jianjun Yuan

IEEE Robotics and Automation Letters

DOI

2026

Design and Modeling of a Sandwich-Enhanced Chain Mail Jamming Mechanism for Robotic Applications

Abdullah Ahmed, Zhengtao Hu, Weiwei Wan, Tetsuyou Watanabe, Kensuke Harada

IEEE/ASME Transactions on Mechatronics

DOI

2026

Planning 6-D Grasps for Two-Finger Grippers Considering Edge and Corner Contacts

Zhengtao Hu, Ruishuang Liu, Mocong Qiu, Hao Chen, Liang Du, Takuya Kiyokawa, Weiwei Wan, Jianjun Yuan, Kensuke Harada

IEEE/ASME Transactions on Mechatronics

DOI

2026

AVT: Adhesive visual tactile sensor for anthropomorphic and precise manipulation of tiny mechanical components

Chen Chen, Liang Du, Zhengtao Hu, Bin Fang, Weiwei Wan, Kensuke Harada, Jianjun Yuan

Robotics and Computer-Integrated Manufacturing

DOI

2026

Soft Regrasping Tool Inspired by Jamming Gripper

Takuya Kiyokawa, Zhengtao Hu, Weiwei Wan, Kensuke Harada

IEEE International Conference on Mechatronics and Automation (ICMA)

DOI

2026

Single-Actuator Robotic Grinding System with Planetary Gear Coupling for Rust Removal on Pipe Outer Surfaces

Mingyuan Wang, Ziqing Gu, Zhengtao Hu, Sheng Bao, Liang Du, Jianjun Yuan

Applied Sciences

DOI

2026

Coarse-to-fine uncertainty reduction for robotic disc cutter grasping in TBM maintenance

Liang Du, Saichao Wu, Qiang Yang, Hao Chen, Sheng Bao, Zhengtao Hu, Jianjun Yuan

Automation in Construction

DOI

2026

C3bot: A Climbing Robot for 3D Variable-Curvature Structures

Mingyuan Wang, Yize Xu, Ziqing Gu, Jianjun Yuan, Sheng Bao, Zhengtao Hu

Machines

DOI

2026

3D layout planning for robotic workcells with task-aware motion optimization: Generalization and real implementation

Radwa Ali, Takuya Kiyokawa, Zhengtao Hu, Weiwei Wan, Kensuke Harada

Robotics and Computer-Integrated Manufacturing

DOI

2026

Tightly Coupled LiDAR-Inertial Odometry With Geometric-Uncertainty Modeling

Hongkai Zhang, Liang Du, Zhengtao Hu, Sheng Bao, Liang Zhao, Jianjun Yuan

IEEE Transactions on Instrumentation and Measurement

DOI

2026

Voxel-LIVO: Accurate and Robust LiDAR-Inertial-Visual Fused Odometry and Mapping in Challenge Environment

Hongkai Zhang, Jianjun Yuan, Zhengtao Hu, Liang Du, Sheng Bao, Weiwei Wan, Kensuke Harada

IEEE Transactions on Instrumentation and Measurement

DOI

2026

A Caterpillar-Type Miniature Robot for Adaptive Locomotion and Exploration of Tiny Rigid/Soft Pipes

Jin-Yang Gao, Zhengtao Hu, Jing-Yao Zhang, Yanfei Cao, Kun-Peng Zhang, Guozheng Yan, He-Lei Dong, Qiu-Lin Tan, Li Zhang

IEEE Transactions on robotics

DOI

2025

基于模糊PID的仿植物生长机器人液压驱动系统

张坤鹏，高晋阳，张静瑶，袁家悦，胡正涛

《传感器与微系统》

DOI

2025

Bimanual Regrasp Planning and Control for Active Reduction of Object Pose Uncertainty

Ryuta Nagahama, Weiwei Wan, Zhengtao Hu, Kensuke Harada

IEEE Robotics and Automation Letters

DOI

2025

Visual Servoing With Grid‐Based Directional Error Mapping for Robotic TBM Disc Cutter Replacement

Qiang Yang, Liang Du, Hao Chen, Sheng Bao, Zhengtao Hu, Jianjun Yuan

Journal of Field Robotics

DOI

2025

Robotic Grasp Planning Considering Local Concavity of Contact

Mocong Qiu, Zhengtao Hu, Hao Chen, Liang Du, Sheng Bao, Jianjun Yuan

IEEE International Conference on Robotics and Biomimetics (ROBIO)

DOI

2025

Sensorless Payload Estimation of Serial Robots Using an Improved Disturbance Kalman Filter with a Variable-Parameter Noise Model

Ruiqing Luo, Jianjun Yuan, Yimin He, Sheng Bao, Liang Du, Zhengtao Hu

Actuators

DOI

2025

Tactile Sensing for Adaptive Grasping of Disc Cutters in Tunnel Boring Machines

Saichao Wu, Xiaochuan Hu, Qiang Yang, Zhengtao Hu, Sheng Bao, Liang Du, Weidong Wang, Fengbo Sun, Jianjun Yuan

IEEE International Conference on Cyborg and Bionic Systems (CBS)

DOI

2025

Depth-Area-Dependent Normal Force Estimation Model for Vision-Based Tactile Sensors

Ziquan Song, Jianjun Yuan, Ruiqing Luo, Xi Ye, Zhengtao Hu, Sheng Bao, Liang Du

IEEE International Conference on Cyborg and Bionic Systems (CBS)

DOI

2025

Task and Grasp Constrained 3D Robotic Work-Cell Layout Planning

Radwa Ali, Zhengtao Hu, Takuya Kiyokawa, Weiwei Wan, Tatsushi Nishi, Kensuke Harada

2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)

DOI

2025

A Soft Robotic Gripper with Variable Grasping Force Based on Jamming Phenomenon

Yige Peng, Jianjun Yuan, Zhengtao Hu, Liang Du, Sheng Bao, Mahmoud Magdy

IEEE International Conference on Mechatronics and Automation (ICMA)

DOI

2025

Design of Swing Arm Crawler Robot for Variable Cross-section Pipes Operation

Ziqing Gu, Jianjun Yuan, Mingyuan Wang, Jiawei Ni, Zhengtao Hu, Sheng Bao, Liang Du

IEEE International Conference on Mechatronics and Automation (ICMA)

DOI

2025

Robotic Visual Data Acquisition System Using Automatic Object Rearrangement and Annotation

Xiaoxuan Qi, Sheng Bao, Yixuan Su, Zhengtao Hu, Liang Du, Mahmoud Magdy, Kensuke Harada, Jianjun Yuan

IEEE International Conference on Mechatronics and Automation (ICMA)

DOI

2024

Design, Fabrication, and Testing of a Chain Mail Jamming-Based Stiffness-Changeable Robotic Supporter

Abdullah Ahmed, Zhengtao Hu, Weiwei Wan, Tetsuyou Watanabe, Jianjun Yuan, Kensuke Harada

IEEE/ASME Transactions on Mechatronics

DOI

2024

Adaptive Neural Computed Torque Control for Robot Joints with Asymmetric Friction Model

Ruiqing Luo, Zhengtao Hu, Menghui Liu, Liang Du, Sheng Bao, Jianjun Yuan

IEEE Robotics and Automation Letters

DOI

2024

Contact Force Estimation by Fusing Current and Tactile Information Through KF for Robot Arm

Yujie Tian, Chengfang Guang, Ruiqing Luo, Sheng Bao, Jianjun Yuan, Liang Du, Zhengtao Hu

IEEE International Conference on Robotics and Biomimetics (ROBIO)

DOI

2024

Lie-theory-based dynamic model identification of serial robots considering nonlinear friction and optimal excitation trajectory

Ruiqing Luo, Jianjun Yuan, Zhengtao Hu, Liang Du, Sheng Bao, Meijie Zhou

Robotica

DOI

2024

Dynamic Friction Model with Velocity and Asymmetric Load Dependency for Robot Joints

Menghui Liu, Ruiqing Luo, Zhengtao Hu, Sheng Bao, Liang Du, Jianjun Yuan

IEEE International Conference on Mechatronics and Automation (ICMA)

DOI

2024

Design of a magnetic hemispherical wheeled pipeline robot

Yize Xu, Mingyuan Wang, Liang Du, Sheng Bao, Zhengtao Hu, Jianjun Yuan

IEEE International Conference on Mechatronics and Automation (ICMA)

DOI

2024

Design of an active suspension mechanism for obstacle traversal of in-pipe robots

Jiawei Ni, Mingyuan Wang, Liang Du, Sheng Bao, Zhengtao Hu, Jianjun Yuan

IEEE International Conference on Mechatronics and Automation (ICMA)

DOI

2024

Design of a multifunctional end-effector for robotic replacement of TBM disc cutters

Jinshu Zhou, Qiang Yang, Liang Du, Zhengtao Hu, Sheng Bao, Jianjun Yuan, Jintao Xie, Meng Li, Weidong Wang

IEEE International Conference on Mechatronics and Automation (ICMA)

DOI

2024

Design of a Pipeline Inside Anti-corrosion Robot Using Axiomatic Design Method

Zhiyang Wang, Qifeng Wang, Liang Du, Mingyuan Wang, Zhengtao Hu, Sheng Bao, Jianjun Yuan

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

DOI

2023

Compliant Peg-in-Hole Assembly Using a Very Soft Wrist

Qi Zhang, Zhengtao Hu, Weiwei Wan, Kensuke Harada

IEEE Robotics and Automation Letters

DOI

2023

PIPE-VINS: A Robust, Real-time Visual-Inertial State Estimator in Pipe Environment

Yiming Huang, Jianjun Yuan, Liang Du, Sheng Bao, Zhengtao Hu, Hongkai Zhang

IEEE International Conference on Robotics and Biomimetics (ROBIO)

DOI

2023

Multi-objective geometric optimization of a multi-link robot manipulator considering dynamics performance

Zixin Gao, Liang Du, Xiaomeng Hu, Zhengtao Hu, Sheng Bao, Kensuke Harada, Jianjun Yuan

IEEE International Conference on Robotics and Biomimetics (ROBIO)

DOI

2023

Modeling and Analysis of Pipe External Surface Grinding Force using Cup-shaped Wire Brush

Dongying Shao, Mingyuan Wang, Liang Du, Sheng Bao, Zhengtao Hu, Longchuan Li, Jianjun Yuan

IEEE International Conference on Robotics and Biomimetics (ROBIO)

DOI

精选作品

期刊论文

1D2L: One-Arm Drag and Two-Arm Lift for Manipulating Large and Heavy Tabletop Objects

Automatic Transport System for Replacing Disc Cutters in Tunnel Boring Machine

Clearance-Adaptive Grasping of Clustered Objects Using Pin-Array Robotic Fingers Under Uncertainty

Design and Modeling of a Sandwich-Enhanced Chain Mail Jamming Mechanism for Robotic Applications

Planning 6-D Grasps for Two-Finger Grippers Considering Edge and Corner Contacts

AVT: Adhesive visual tactile sensor for anthropomorphic and precise manipulation of tiny mechanical components

Soft Regrasping Tool Inspired by Jamming Gripper

Single-Actuator Robotic Grinding System with Planetary Gear Coupling for Rust Removal on Pipe Outer Surfaces

Coarse-to-fine uncertainty reduction for robotic disc cutter grasping in TBM maintenance

C3bot: A Climbing Robot for 3D Variable-Curvature Structures

3D layout planning for robotic workcells with task-aware motion optimization: Generalization and real implementation

Tightly Coupled LiDAR-Inertial Odometry With Geometric-Uncertainty Modeling

Voxel-LIVO: Accurate and Robust LiDAR-Inertial-Visual Fused Odometry and Mapping in Challenge Environment

A Caterpillar-Type Miniature Robot for Adaptive Locomotion and Exploration of Tiny Rigid/Soft Pipes

基于模糊PID的仿植物生长机器人液压驱动系统

Bimanual Regrasp Planning and Control for Active Reduction of Object Pose Uncertainty

Visual Servoing With Grid‐Based Directional Error Mapping for Robotic TBM Disc Cutter Replacement

Robotic Grasp Planning Considering Local Concavity of Contact

Sensorless Payload Estimation of Serial Robots Using an Improved Disturbance Kalman Filter with a Variable-Parameter Noise Model

Tactile Sensing for Adaptive Grasping of Disc Cutters in Tunnel Boring Machines

Depth-Area-Dependent Normal Force Estimation Model for Vision-Based Tactile Sensors

Task and Grasp Constrained 3D Robotic Work-Cell Layout Planning

A Soft Robotic Gripper with Variable Grasping Force Based on Jamming Phenomenon

Design of Swing Arm Crawler Robot for Variable Cross-section Pipes Operation

Robotic Visual Data Acquisition System Using Automatic Object Rearrangement and Annotation

Design, Fabrication, and Testing of a Chain Mail Jamming-Based Stiffness-Changeable Robotic Supporter

Adaptive Neural Computed Torque Control for Robot Joints with Asymmetric Friction Model

Contact Force Estimation by Fusing Current and Tactile Information Through KF for Robot Arm

Lie-theory-based dynamic model identification of serial robots considering nonlinear friction and optimal excitation trajectory

Dynamic Friction Model with Velocity and Asymmetric Load Dependency for Robot Joints

Design of a magnetic hemispherical wheeled pipeline robot

Design of an active suspension mechanism for obstacle traversal of in-pipe robots

Design of a multifunctional end-effector for robotic replacement of TBM disc cutters

Design of a Pipeline Inside Anti-corrosion Robot Using Axiomatic Design Method

Compliant Peg-in-Hole Assembly Using a Very Soft Wrist

PIPE-VINS: A Robust, Real-time Visual-Inertial State Estimator in Pipe Environment

Multi-objective geometric optimization of a multi-link robot manipulator considering dynamics performance

Modeling and Analysis of Pipe External Surface Grinding Force using Cup-shaped Wire Brush

预印本

Backward Layout Search for Sequence-Constrained Robotic Assembly

HarvestPoint-ACT: Explicit Target Selection and Harvest-Point Conditioning for Robotic Fruit Harvesting under Occlusion

A Multi-Level Similarity Approach for Single-View Object Grasping: Matching, Planning, and Fine-Tuning

A Mechanical Screwing Tool for 2-Finger Parallel Grippers -- Design, Optimization, and Manipulation Policies

Development of a Shape-memorable Adaptive Pin Array Fixture

Designing a Mechanical Tool for Robots with 2-Finger Parallel Grippers

研究方向