基本信息
李睿 副研究员（硕士生导师）
所在单位： 中国科学院自动化研究所
电子邮件： rui.li@ia.ac.cn
通信地址： 北京市海淀区中关村东路95号
邮政编码：100190
先后主持国家留学基金委中德交流项目、中国博士后科学基金面上资助项目、国家自然科学基金委青年基金等国家级科研项目，参与欧盟“人脑计划”、科技部重点研发计划、国家自然科学基金中德合作项目、广东省重点领域研发计划项目等重点、重大课题。针对环境约束下的机器人灵巧操作与触感反馈融合问题进行了一系列探索。相关成果发表在IEEE T-MECH、IEEE T-IE、IEEE T-ITS等国际SCI期刊上。发表学术论文30余篇，授权专利4项。
研究领域
主要研究领域：人形机器人系统，机器人智能操作
主要学术方向：从事机器人操作策略、规划与控制相关研究，主要特色为利用任务场景中的环境约束信息实现任务精度高于本体精度的机器人操作。
（1）通过对规则柱体（圆柱、多边形棱柱）轴孔间形成的环境约束的分析，实现不依赖于力传感器的装配策略设计；
（2）利用自主设计的形封闭抓取机构，实现对凸多边形物体的封闭抓取。相关算法应用于工业零件（如汽车发动机活塞套件、机器人关节减速器等）定位、装配等任务中。
相关工作形成适用于物体精准定位与稳定抓取的形封闭四指手设计方法与三个版本迭代设计。
主要技术专长：参与多种机器人本体系统设计与搭建，包含人形机器人、生活支援机器人、轮履式变结构机器人、可重构机器人等，主要特色为面向任务场景，形成具有一定通用性的本体方案。
相关设计与平台多次参加机器人挑战赛，先后获得2020智创杯机器人前沿技术挑战赛三等奖（奖金300万）、2021“跨越险阻”无人系统挑战赛创意赛优胜奖、2021“智卫杯”无人系统挑战赛室内侦察地面组最优成绩。
招生信息
招生专业
081101-控制理论与控制工程
081104-模式识别与智能系统
081104-模式识别与智能系统
招生方向
人形机器人硬件系统
机器人操作
机器人学习
机器人操作
机器人学习
教育背景
2013-09--2018-07 中国科学院自动化研究所 工学博士
2009-09--2013-07 电子科技大学 工学学士
2009-09--2013-07 电子科技大学 工学学士
工作经历
工作简历
2020-05~2023-05,重庆大学, 弘深青年教师（特别资助博士后）
2018-09~2020-04,德国慕尼黑工业大学, 访问学者
2018-09~2020-04,德国慕尼黑工业大学, 访问学者
社会兼职
2021-01-01-今,中国自动化学会机器人智能专业委员会, 委员
专利与奖励
奖励信息
（1） 智创杯无人系统挑战赛, 三等奖, 省级, 2020
专利成果
[1] 李睿, 周振生, 刘雅楠, 马铁东. 机器人自主爬楼控制方法、机器人及存储介质. CN116243710A, 2023-06-09.
[2] 孙少欣, 蒋国然, 苏晓杰, 李睿. 目标跟踪方法、目标跟踪系统及存储介质. CN116188527A, 2023-05-30.
[3] 孙少欣, 陈光辉, 苏晓杰, 李睿. 摔倒行为检测方法、装置、电子设备及存储介质. CN116168447A, 2023-05-26.
[4] 苏晓杰, 朱瑾玉, 孙少欣, 关丽娟, 李睿. 基于生活支援的人机交互方法、电子设备及存储介质. CN116186208A, 2023-05-30.
[5] 李睿, 伍宇杰, 苏晓杰, 黄江帅. 一种四自由度四抓取点的夹取装置. CN115571622A, 2023-01-06.
[6] 李睿, 彭柏皓, 李勇, 许久铭, 黄江帅, 马铁东, 杨玥. 触感指尖传感器及其操作系统与数据处理方法. CN114399586A, 2022-04-26.
[7] 李睿, 刘世敏, 彭柏皓, 苏晓杰, 岑汝平, 马铁东. 一种山地道路边线位置检测方法. CN: CN113392704A, 2021-09-14.
[8] 苏晓杰, 窦明星, 黄江帅, 江涛, 李睿, 郑志, 谢泽宇, 肖洋. 一种小型可组合移动机器人及其混合控制方法. CN: CN113138551A, 2021-07-20.
[9] 李小青, 钱扬, 李睿, 牛星宇, 刘永乐, 乔红. 基于单目视觉的机器人稳定抓取物体的抓取点获取方法. CN: CN109508707A, 2019-03-22.
[10] 牛星宇, 李睿, 乔红. 可调位置的四指机械手. CN: CN209256978U, 2019-08-16.
[11] 乔红, 马超, 李睿, 陈紫渝, 李小青. 一种机器人中的任务管理方法及系统. CN: CN105786605A, 2016-07-20.
[12] 乔红, 李小青, 马超, 李睿, 陈紫渝. 基于环境吸引域的机器手抓取策略规划方法. CN: CN105538312A, 2016-05-04.
[13] 乔红, 陈紫渝, 马超, 李睿, 李小青. 一种用于轴孔装配的机械手. CN: CN205363187U, 2016-07-06.
[14] 乔红, 李睿, 马超, 李小青, 陈紫渝. 一种基于环境吸引域的轴孔装配方法及系统. CN: CN105729469A, 2016-07-06.
[15] 李小青, 乔红, 苏建华, 李睿, 宋永博, 赵向, 杨爱龙. 机器人抓取方法及系统. CN: CN105184019A, 2015-12-23.
[16] 李小青, 乔红, 苏建华, 李睿, 宋永博, 赵向, 杨爱龙. 机器人抓取系统. CN: CN205121556U, 2016-03-30.
[2] 孙少欣, 蒋国然, 苏晓杰, 李睿. 目标跟踪方法、目标跟踪系统及存储介质. CN116188527A, 2023-05-30.
[3] 孙少欣, 陈光辉, 苏晓杰, 李睿. 摔倒行为检测方法、装置、电子设备及存储介质. CN116168447A, 2023-05-26.
[4] 苏晓杰, 朱瑾玉, 孙少欣, 关丽娟, 李睿. 基于生活支援的人机交互方法、电子设备及存储介质. CN116186208A, 2023-05-30.
[5] 李睿, 伍宇杰, 苏晓杰, 黄江帅. 一种四自由度四抓取点的夹取装置. CN115571622A, 2023-01-06.
[6] 李睿, 彭柏皓, 李勇, 许久铭, 黄江帅, 马铁东, 杨玥. 触感指尖传感器及其操作系统与数据处理方法. CN114399586A, 2022-04-26.
[7] 李睿, 刘世敏, 彭柏皓, 苏晓杰, 岑汝平, 马铁东. 一种山地道路边线位置检测方法. CN: CN113392704A, 2021-09-14.
[8] 苏晓杰, 窦明星, 黄江帅, 江涛, 李睿, 郑志, 谢泽宇, 肖洋. 一种小型可组合移动机器人及其混合控制方法. CN: CN113138551A, 2021-07-20.
[9] 李小青, 钱扬, 李睿, 牛星宇, 刘永乐, 乔红. 基于单目视觉的机器人稳定抓取物体的抓取点获取方法. CN: CN109508707A, 2019-03-22.
[10] 牛星宇, 李睿, 乔红. 可调位置的四指机械手. CN: CN209256978U, 2019-08-16.
[11] 乔红, 马超, 李睿, 陈紫渝, 李小青. 一种机器人中的任务管理方法及系统. CN: CN105786605A, 2016-07-20.
[12] 乔红, 李小青, 马超, 李睿, 陈紫渝. 基于环境吸引域的机器手抓取策略规划方法. CN: CN105538312A, 2016-05-04.
[13] 乔红, 陈紫渝, 马超, 李睿, 李小青. 一种用于轴孔装配的机械手. CN: CN205363187U, 2016-07-06.
[14] 乔红, 李睿, 马超, 李小青, 陈紫渝. 一种基于环境吸引域的轴孔装配方法及系统. CN: CN105729469A, 2016-07-06.
[15] 李小青, 乔红, 苏建华, 李睿, 宋永博, 赵向, 杨爱龙. 机器人抓取方法及系统. CN: CN105184019A, 2015-12-23.
[16] 李小青, 乔红, 苏建华, 李睿, 宋永博, 赵向, 杨爱龙. 机器人抓取系统. CN: CN205121556U, 2016-03-30.
出版信息
发表论文
[1] Chenyao Zhu, Lan Luo, 李睿, Junhui Guo, Qining Wang. Wearable Motion Analysis System for Thoracic Spine Mobility With Inertial Sensors. IEEE Transactions on Neural Systems and Rehabilitation Engineering[J]. 2024, 32: 1884-1895,
[2] Rui Li, Shimin Liu, Xiaojie Su. Learning Form Closure Grasping with a Four-Pin Parallel Gripper. APPLIED SCIENCES[J]. 2023, 13: https://doaj.org/article/ce8dd60526f84818931a567539a8cbbd.
[3] Bing, Zhenshan, Zhou, Hongkuan, Li, Rui, Su, Xiaojie, Morin, Fabrice O, Huang, Kai, Knoll, Alois. Solving Robotic Manipulation With Sparse Reward Reinforcement Learning Via Graph-Based Diversity and Proximity. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS[J]. 2023, 70(3): 2759-2769, http://dx.doi.org/10.1109/TIE.2022.3172754.
[4] Li, Rui, Cao, Yanjun, Bing, Zhenshan, Qiao, Hong. An Improved Four-Pin Gripper for Robust 2.5-D Form-Closure Grasp. IEEE-ASME TRANSACTIONS ON MECHATRONICS[J]. 2022,
[5] Bing, Zhenshan, Brucker, Matthias, Morin, Fabrice O, Li, Rui, Su, Xiaojie, Huang, Kai, Knoll, Alois. Complex Robotic Manipulation via Graph-Based Hindsight Goal Generation. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS[J]. 2022, 33(12): 7863-7876, http://dx.doi.org/10.1109/TNNLS.2021.3088947.
[6] Rui Li, Bohao Peng. Implementing Monocular Visual-Tactile Sensors for Robust Manipulation. CYBORG AND BIONIC SYSTEMS[J]. 2022, 2022: https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9494691/.
[7] Bing, Zhenshan, Chen, Fei, Li, Rui, Zhong, Junpei, Li, Qiang. Editorial: Biological-Inspired Autonomous Mobile Manipulation: Challenges in Design, Control, and Real-World Applications. FRONTIERS IN NEUROROBOTICS[J]. 2022, 16: http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000818417500001.
[8] Su, Jianhua, Liu, Chuankai, Li, Rui. Robot Precision Assembly Combining With Passive and Active Compliant Motions. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS[J]. 2022, 69(8): 8157-8167, http://dx.doi.org/10.1109/TIE.2021.3108710.
[9] Yinlin Li, Peng Wang, Rui Li, Mo Tao, Zhiyong Liu, Hong Qiao. A Survey of Multifingered Robotic Manipulation: Biological Results, Structural Evolvements, and Learning Methods. FRONTIERS IN NEUROROBOTICS[J]. 2022, 16: https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9097019/.
[10] Liu, Xinxin, Su, Xiaojie, Li, Rui, Shi, Peng. Anti-disturbance sliding mode control for uncertain nonlinear systems. INTERNATIONAL JOURNAL OF CONTROL. 2022,
[11] Chunlian Wang, Rui Li, Xiaojie Su, Peng Shi. Output Feedback Sliding Mode Control of Markovian Jump Systems and Its Application to Switched Boost Converter. IEEE Transactions on Circuits and Systems I: Regular Papers[J]. 2021, 68(12): 5134-5144,
[12] Li, Rui, Li, Yinlin, Su, Xiaojie. A two-step method for 4-pin form-closure gripper with grasping force optimization. ASIAN JOURNAL OF CONTROL[J]. 2021, 23(5): 2079-2086, http://dx.doi.org/10.1002/asjc.2545.
[13] Wang, Ziling, Zou, Lai, Su, Xiaojie, Luo, Guoyue, Li, Rui, Huang, Yun. Hybrid force/position control in workspace of robotic manipulator in uncertain environments based on adaptive fuzzy control. ROBOTICS AND AUTONOMOUS SYSTEMS[J]. 2021, 145: http://dx.doi.org/10.1016/j.robot.2021.103870.
[14] Bing, Zhenshan, Alvarez, Erick, Cheng, Long, Morin, Fabrice O, Li, Rui, Su, Xiaojie, Huang, Kai, Knoll, Alois. Robotic Manipulation in Dynamic Scenarios via Bounding-Box-Based Hindsight Goal Generation. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS. 2021, http://dx.doi.org/10.1109/TNNLS.2021.3124366.
[15] Li, Yinlin, Jia, Lihao, Ji, Yidao, Li, Rui. Event-triggered guaranteed cost control of time-varying delayed fuzzy systems with limited communication. MEASUREMENT & CONTROL[J]. 2020, 53(9-10): 2129-2136, https://doaj.org/article/c7f71f36772649d5afd8d8da4308d88a.
[16] Cao, Yanjun, Yang, Chenhao, Li, Rui, Knoll, Alois, Beltrame, Giovanni, IEEE. Accurate position tracking with a single UWB anchor. 2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA). 2020, 2344-2350,
[17] Li, Xiaoqing, Qian, Yang, Li, Rui, Niu, Xingyu, Qiao, Hong. Robust form-closure grasp planning for 4-pin gripper using learning-based Attractive Region in Environment. NEUROCOMPUTING[J]. 2020, 384: 268-281, http://dx.doi.org/10.1016/j.neucom.2019.12.039.
[18] Li, Rui, Qiao, Hong. A Survey of Methods and Strategies for High-Precision Robotic Grasping and Assembly Tasks-Some New Trends. IEEE-ASME TRANSACTIONS ON MECHATRONICS[J]. 2019, 24(6): 2718-2732, http://dx.doi.org/10.1109/TMECH.2019.2945135.
[19] Ma, Chao, Li, Rui, Qiao, Hong. Non-fragile consensus control of networked robotic manipulators with topology-dependent memory. ASSEMBLY AUTOMATION[J]. 2018, 38(5): 625-634, http://ir.ia.ac.cn/handle/173211/25667.
[20] R Li, XQ Li, Qiao Hong, H Qiao. Flexible Robotic Grasping Strategy with Constrained Region in Environment. INTERNATIONAL JOURNAL OF AUTOMATION AND COMPUTING[J]. 2017, 14(5): 552-563, http://dx.doi.org/10.1007/s11633-017-1096-5.
[21] Li, Rui, Qiao, Hong. Condition and Strategy Analysis for Assembly Based on Attractive Region in Environment. IEEE-ASME TRANSACTIONS ON MECHATRONICS[J]. 2017, 22(5): 2218-2228,
[22] Su, Jianhua, Li, Rui, Qiao, Hong, Xu, Jing, Ai, Qinglin, Zhu, Jiankang. Study on dual peg-in-hole insertion using of constraints formed in the environment. INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL[J]. 2017, 44(6): 730-740, https://www.webofscience.com/wos/woscc/full-record/WOS:000413936600006.
[23] Liang li, Rui Li, Hong Qiao, Chao Ma, Xiaoqing Li. Human-Inspired Compliant Strategy for Peg-in-Hole Assembly Using Environmental Constraint and Coarse Force Information. 2017, http://ir.ia.ac.cn/handle/173211/20239.
[24] Zhu, Wenjun, Wang, Peng, Li, Rui, Nie, Xiangli. Real-time 3D work-piece tracking with monocular camera based on static and dynamic model libraries. ASSEMBLY AUTOMATION[J]. 2017, 37(2): 219-229, https://www.webofscience.com/wos/woscc/full-record/WOS:000402872300009.
[25] Chen Ziyu, Li Rui, Ma Chao, Li Xiaoging, Wang Xu, Zeng Konggeng. 3D vision based fast badminton localization with prediction and error elimination for badminton robot. PROCEEDINGS OF THE 2016 12TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA). 2016, http://ir.ia.ac.cn/handle/173211/12839.
[26] Li Xiaoqing, Qiao Hong, Ma Chao, Li Rui, Zeng Konggeng. A dynamical compliant grasping strategy for dexterous robotic hands with cushioning mechanism. PROCEEDINGS OF THE 2016 12TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA). 2016, http://ir.ia.ac.cn/handle/173211/12831.
[27] 乔红, 尹沛劼, 李睿, 王鹏. 机器人与神经科学交叉的意义关于智能机器人未来发展的思考. 中国科学院院刊[J]. 2015, 30(6): 762, http://ir.amss.ac.cn/handle/2S8OKBNM/43971, http://www.irgrid.ac.cn/handle/1471x/6867755, http://ir.amss.ac.cn/handle/2S8OKBNM/43972.
[28] Qiao Hong, Li Rui, Yin Peijie. Robotics and Automation Activities in China Industrial Activities. IEEE ROBOTICS & AUTOMATION MAGAZINE[J]. 2015, 22(3): 14-17, http://ir.ia.ac.cn/handle/173211/12590.
[29] Qiao, Hong, Wang, Min, Su, Jianhua, Jia, Shengxin, Li, Rui. The Concept of "Attractive Region in Environment" and its Application in High-Precision Tasks With Low-Precision Systems. IEEE-ASME TRANSACTIONS ON MECHATRONICS[J]. 2015, 20(5): 2311-2327, http://www.irgrid.ac.cn/handle/1471x/1006345.
[30] Li, Rui, Wu, Wei, Qiao, Hong. The compliance of robotic hands - from functionality to mechanism. ASSEMBLY AUTOMATION[J]. 2015, 35(3): 281-286, http://www.irgrid.ac.cn/handle/1471x/1006344.
[2] Rui Li, Shimin Liu, Xiaojie Su. Learning Form Closure Grasping with a Four-Pin Parallel Gripper. APPLIED SCIENCES[J]. 2023, 13: https://doaj.org/article/ce8dd60526f84818931a567539a8cbbd.
[3] Bing, Zhenshan, Zhou, Hongkuan, Li, Rui, Su, Xiaojie, Morin, Fabrice O, Huang, Kai, Knoll, Alois. Solving Robotic Manipulation With Sparse Reward Reinforcement Learning Via Graph-Based Diversity and Proximity. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS[J]. 2023, 70(3): 2759-2769, http://dx.doi.org/10.1109/TIE.2022.3172754.
[4] Li, Rui, Cao, Yanjun, Bing, Zhenshan, Qiao, Hong. An Improved Four-Pin Gripper for Robust 2.5-D Form-Closure Grasp. IEEE-ASME TRANSACTIONS ON MECHATRONICS[J]. 2022,
[5] Bing, Zhenshan, Brucker, Matthias, Morin, Fabrice O, Li, Rui, Su, Xiaojie, Huang, Kai, Knoll, Alois. Complex Robotic Manipulation via Graph-Based Hindsight Goal Generation. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS[J]. 2022, 33(12): 7863-7876, http://dx.doi.org/10.1109/TNNLS.2021.3088947.
[6] Rui Li, Bohao Peng. Implementing Monocular Visual-Tactile Sensors for Robust Manipulation. CYBORG AND BIONIC SYSTEMS[J]. 2022, 2022: https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9494691/.
[7] Bing, Zhenshan, Chen, Fei, Li, Rui, Zhong, Junpei, Li, Qiang. Editorial: Biological-Inspired Autonomous Mobile Manipulation: Challenges in Design, Control, and Real-World Applications. FRONTIERS IN NEUROROBOTICS[J]. 2022, 16: http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000818417500001.
[8] Su, Jianhua, Liu, Chuankai, Li, Rui. Robot Precision Assembly Combining With Passive and Active Compliant Motions. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS[J]. 2022, 69(8): 8157-8167, http://dx.doi.org/10.1109/TIE.2021.3108710.
[9] Yinlin Li, Peng Wang, Rui Li, Mo Tao, Zhiyong Liu, Hong Qiao. A Survey of Multifingered Robotic Manipulation: Biological Results, Structural Evolvements, and Learning Methods. FRONTIERS IN NEUROROBOTICS[J]. 2022, 16: https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9097019/.
[10] Liu, Xinxin, Su, Xiaojie, Li, Rui, Shi, Peng. Anti-disturbance sliding mode control for uncertain nonlinear systems. INTERNATIONAL JOURNAL OF CONTROL. 2022,
[11] Chunlian Wang, Rui Li, Xiaojie Su, Peng Shi. Output Feedback Sliding Mode Control of Markovian Jump Systems and Its Application to Switched Boost Converter. IEEE Transactions on Circuits and Systems I: Regular Papers[J]. 2021, 68(12): 5134-5144,
[12] Li, Rui, Li, Yinlin, Su, Xiaojie. A two-step method for 4-pin form-closure gripper with grasping force optimization. ASIAN JOURNAL OF CONTROL[J]. 2021, 23(5): 2079-2086, http://dx.doi.org/10.1002/asjc.2545.
[13] Wang, Ziling, Zou, Lai, Su, Xiaojie, Luo, Guoyue, Li, Rui, Huang, Yun. Hybrid force/position control in workspace of robotic manipulator in uncertain environments based on adaptive fuzzy control. ROBOTICS AND AUTONOMOUS SYSTEMS[J]. 2021, 145: http://dx.doi.org/10.1016/j.robot.2021.103870.
[14] Bing, Zhenshan, Alvarez, Erick, Cheng, Long, Morin, Fabrice O, Li, Rui, Su, Xiaojie, Huang, Kai, Knoll, Alois. Robotic Manipulation in Dynamic Scenarios via Bounding-Box-Based Hindsight Goal Generation. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS. 2021, http://dx.doi.org/10.1109/TNNLS.2021.3124366.
[15] Li, Yinlin, Jia, Lihao, Ji, Yidao, Li, Rui. Event-triggered guaranteed cost control of time-varying delayed fuzzy systems with limited communication. MEASUREMENT & CONTROL[J]. 2020, 53(9-10): 2129-2136, https://doaj.org/article/c7f71f36772649d5afd8d8da4308d88a.
[16] Cao, Yanjun, Yang, Chenhao, Li, Rui, Knoll, Alois, Beltrame, Giovanni, IEEE. Accurate position tracking with a single UWB anchor. 2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA). 2020, 2344-2350,
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发表著作
（1） The “Hand-eye-brain” System of Intelligent Robot, Springer Singapore, 2021-08, 第 3 作者