白坤

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白坤教授

电　　话

邮　　箱kbai@hust.edu.cn

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个人介绍

       白坤（Bai Kun，Professor），华中科技大学教授，博士生导师。本科毕业于浙江大学控制科学与工程系，博士毕业于美国佐治亚理工学院机械系，目前在数字制造装备与技术国家重点实验室进行科研工作。 主要从事机器人与磁机电系统感知、驱动、控制相关研究。近5 年主持国基金项目2 项，作为核心成员参与国家973、国基金重点等项目。出版一作英文专著1 部，在IEEE Trans. on Robotics、IEEE/ASME Trans. on Mechatronics、IEEE Trans. on Industrial Electronics、IEEE Trans. on Industrial Informatics 等期刊及重要国际会议发表论文40余篇，获中国、美国授权发明专利20项。研究成果获ASME机电一体化奖、建国70周年科技新书奖、日内瓦国际发明金奖、银奖，多次受邀在ACC，AIM等领域代表性国际会议做主题报告及邀请报告。目前担任国际期刊IEEE/ASME Trans. on Mechatronics编委。
       课题组招收博士后、学术/工程博士、学术/工程硕士，欢迎对驱动控制、机器人、医工交叉方向感兴趣的同学加入。 
       课题组网站：http://www.actuator-lab.com/

研究方向

机器人驱动控制
球形电机及创新应用
医疗机器人

开设课程

本科生课程：System Dynamics and Control, 全英文课程
                    Fundamentals of Control Engineering, 全英文课程 
研究生课程：Machine Vision，全英文课程

科研项目

承担的科研项目： 
[1] 国家自然科学基金面上项目“面向主从机器人力操作的一体化机电设计和控制”。
[2] 国家自然科学基金联合基金重点项目，“基于人体关节模型的顺应康复外骨骼设计和控制”。 
[3] 国家自然科学基金联合基金重点项目，“大型弱刚性CFRP零件多机器人协同装配理论与技术”。
[4] 国家自然科学基金项目“多自由度球形电机基于磁场的高性能传感控制和驱动”。
[5] 湖北省科技创新人才计划，“手术机器人力反馈关键驱动部件研发”。
[6] 武汉市科技重大专项，“三维影像导航手术机器人整机系统研发”。
[7] 武汉联影智融技术开发项目，“医疗机器人电磁驱动关键技术”。
[8] 华中科技大学交叉研究支持计划(重点项目)，“心脏不停跳心肌切除多模式影像导航手术机器人”。
[9] 中国科学院光电技术研究所，“球关节驱动光电跟踪系统技术验证实验平台”。
[10] 973国家重点基础研究项目，“高品质复杂零件智能制造基础研究”的子课题“加工过程中力-热-变形在线感知与多场重构”。

论文专着与专利

代表性论文：
[1] Y.  Zeng, G. Chen, H. Lian, K. Bai*, “Pose Estimation of Magnetically Driven Helical Robots with Eye-in-Hand Magnetic Sensing”, IEEE Robotics and Automation Letters, vol. 10, no. 5, pp. 4604-4611, May 2025.

[2] K. Bai, H. Su, Y. Chen, Z. Sun, L. Wang, “Focused section on advances in robotics and artificial intelligence for minimally invasive surgery”, International Journal of Intelligent Robotics and Applications, vol. 8, no. 4, pp. 809–811, 2024.

[3] M. Li, Q. Xiao, Z. Wang, C. Liu and K. Bai*, “A Variable Stiffness Spherical Joint Motor by Magnetic Energy Shaping,” IEEE Trans. on Robotics, vol. 40, pp. 1410 - 1420, Jan. 2024.

[4] S. Wen, Y. Ding, X. Wu, and K. Bai*, “Kinematic Analysis and Robust Control of a Spherical-Motor-Based Visual Tracking System,” IEEE/ASME Trans. on Mechatronics, vol. 28, no. 4, pp. 1871-1879, August, 2023.

[5] K. Bai*, W. Chen, K.-M. Lee, Z. Que, R. Huang, “Spherical Wrist with Hybrid Motion-Impedance Control for Enhanced Robotic Manipulations”, IEEE Trans. on Robotics, vol. 38, no. 2, pp. 1174-1185, 2022.

[6] M. Li, Q. Xiao, Z. Wang, C. Liu and K. Bai*, “A Variable Stiffness Spherical Joint Motor by Magnetic Energy Shaping,” IEEE Trans. on Robotics, 2023, DOI: 10.1109/TRO.2023.3336319.

[7] K. Bai*, Y. Ding, Z. Que, H. Yan, X. Chen*, S. Wen, K.-M. Lee, “Regulation and Tracking Control of Omni-Directional Rotation for Spherical Motors,” IEEE Trans. on Industrial Electronics, vol. 70, no. 2, pp. 1696-1705, Feb. 2023.

[8] K. Bai*, H. Yan, and K.-M. Lee, "Robust control of a spherical motor in moving frame," Mechatronics, vol. 75, p. 102548, May 1st, 2021. DOI: 10.1016/j.mechatronics.2021.102548.

[9] W. Dai, C. Zhang, Y. Mao*, and K. Bai*, "A transfer alignment method for inertial attitude correction of spherical motor on moving base," Measurement Science and Technology, vol. 32, no. 10, p. 105023, 2021.

[10] J. Li, K.-M. Lee*, and K. Bai*, "Analytical and Experimental Investigation of Temporal Interference for Selective Neuromuscular Activation," IEEE Trans. on Neural Systems and Rehabilitation Engineering, vol. 28, no. 12, pp. 3100-3112, Dec., 2020. DOI: 10.1109/TNSRE.2020.3038025. 

[11] B. Hao, K.-M. Lee*, and K. Bai*, "Distributed current source modeling method for 3D eddy current problem in magnetic conductor with discrete state-space J-φ formulation," Journal of Computational Physics, vol. 401, p. 109027, Jan. 2020. DOI: 10.1016/j.jcp.2019.109027.

[12] K.-M. Lee*, B. Hao, M. Li and K. Bai*, “Multiparameter Eddy-current Sensor Design for Conductivity Estimation and Simultaneous Distance and Thickness Measurements,” IEEE Trans. on Industrial Informatics, vol. 15, no. 3, pp. 1647-1657, March 2019. DOI: 10.1109/TII.2018.2843319.

[13] K. Bai*, H. Yan, and K.-M. Lee, "Robust control of a spherical motor in moving frame," Mechatronics, vol. 75, p. 102548, May 1st, 2021. DOI: 10.1016/j.mechatronics.2021.102548.

[14] K. Bai*, J. Qin, K.-M. Lee* and B. Hao, “Design and Chatter Prediction Analysis of a Duplex Face Turning Machine for Manufacturing Disk-like Workpieces”, International Journal of Machine Tools and Manufacture, vol. 140, pp. 12-19, Jan., 2019. DOI: 10.1016/j.ijmachtools.2019.01.006.

[15] K.-M. Lee, L. Li, K. Bai*, X. Ouyang, H. Yang, “Harmonic Model and Remedy Strategy of Multiphase PM Motor under Open-Circuit Fault,” IEEE-ASME Trans. on Mechatronics, vol. 24, no. 3, pp. 1407-1419, March, 2019.  DOI: 10.1109/TMECH.2019.2906850.

[16] K. Bai*, R. Xu, K.-M. Lee*, W. Dai, and Y. Huang, “Design and Development of a Spherical Motor for Conformal Printing of Curved Electronics,” IEEE Trans. on Industrial Electronics, vol. 65, no. 11, pp. 9190-9200, Nov. 2018. 

[17] L. Li, K.-M. Lee*, K. Bai*, X. Ouyang*, H. Yang, “Inverse Models and Harmonics Compensation for Suppressing Torque Ripples of Multiphase Permanent Magnet Motor,” IEEE Trans. on Industrial Electronics, vol. 65, no. 11, pp. 8730-8739, Nov. 2018.  DOI: 10.1109/TIE.2018.2808935.

[18] K. Bai, K.-M. Lee*, J. Cao, R. Xu, and L. Li, "Design and Decoupled Compensation Methods of a PM Motor Capable of 6-D Force/Torque Actuation for Minimum Bearing Reaction," IEEE-ASME Trans. on Mechatronics, vol. 22, no. 5, pp. 2252-2264, Oct. 2017. 

[19] K. Bai*, L. Zhu, M. Yuan, K.-M. Lee*, “Design Concept Development of a Variable Magnetization Motor with Improved Efficiency and Controllable Stiffness for Robotic Applications”, SCIENCE CHINA Technological Sciences, vol. 62, no. 1, pp. 39-46, 2019. DOI: 10.1007/s11431-018-9406-5.

[20] W. Dong, Y. Wang, Y. Zhou, Y. Bai, Z. Ju, J. Guo, G. Gu, K. Bai, G. Ouyang, S. Chen, Q. Zhang, Y. Huang, “Soft Human-Machine Interfaces: Design, Sensing and Stimulation”, International Journal of Intelligent Robotics and Applications, vol. 2, no.3, pp. 313–338, 2018. DOI: 10.1007/s41315-018-0060-z, 2018.

[21] K.-M. Lee, L. Yang, K. Bai, and J. Ji, "An Efficient Flexible Division Algorithm for Predicting Temperature-Fields of Mechatronic System with Manufacturing Applications," IEEE-ASME Trans. on Mechatronics, vol. 22, no. 4, pp. 1818-1827, Aug. 2017.

[22] K. Bai, K.-M. Lee, J. Lu, “A Magnetic Flux Model Based Method for Detecting Multi-DOF Motion of a Permanent Magnet Spherical Motor”, Mechatronics, vol. 39, pp. 217-225, Nov. 2016.

[23] K. Bai and K.-M. Lee, “Direct Field-Feedback Control of a Ball-Joint-Like Permanent-Magnet Spherical Motor”, IEEE-ASME Trans. On Mechatronics, vol. 19, no. 3, pp. 975 – 986, June 2014. 

[24] K. Bai, J, Ji, K.-M. Lee, S. Zhang, "A Two-mode Six-DOF Motion System based on a Ball-joint-like Spherical Motor for Haptic Applications ", Computers & Mathematics with Applications, vol. 64, no. 5, pp. 978-987, Sept. 2012. 

[25] K.-M. Lee, K. Bai and J. Lim, "Dipole Models for Forward/Inverse Torque Computation of a Spherical Motor", IEEE-ASME Trans. on Mechatronics, vol. 14, pp. 46-54, Feb 2009.

著作：
[1] K. Bai, K.-M. Lee, Permanent Magnet Spherical Motors: Model and Field Based Approaches for Design, Sensing and Control, Springer, 2018. ISBN: 978-981-10-7961-0.

荣誉获奖

[1] 专著获建国70周年百种科技新书奖，入选第十八届输出版优秀图书。
[2] ASME机电一体化奖
[3] 国际会议DSCC优秀论文奖
[4] 日内瓦国际发明展特别金奖、银奖
[5] 湖北省优秀学士学位论文奖指导教师；指导4人次获得校优秀毕业设计奖
[6] 指导研究生获第五届研究生机器人创新设计大赛全国二等奖
[7] 指导本科生获第七届中国大学生机械工程创新创意大赛全国一等奖
[8] 指导本科生获第八届中国大学生机械工程创新创意大赛全国一等奖

麻花星空MV高清免费

师资队伍

白坤教授

个人介绍

研究方向

开设课程

科研项目

论文专着与专利

荣誉获奖

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麻花星空MV高清免费

师资队伍

白坤 教授

个人介绍

研究方向

开设课程

科研项目

论文专着与专利

荣誉获奖

友情链接

关注我们

白坤教授

论文专着与专利