2004―2009, Department of Manufacturing Engineering & Engineering Management, City University of Hong Kong, Ph.D
2001―2004, Department of Automation, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, M.E
1997―2001, School of Power and Energy Engineering, Shanghai Jiao Tong University, B.E

2017―now: Associate Professor, Doctoral Supervisor, School of Mechanical Engineering, Shanghai Jiao Tong University
2009―2016: Assistant Professor, School of Mechanical Engineering, Shanghai Jiao Tong University

2011.07.12-08.26 Senior Research Assistant, City University of Hong Kong

Legged Robot
Parallel Robot
Reinforcement Learning
Motion Planning


At present, we mainly focus on reinforcement learning control for legged robot. Students with interests and ambitions in robotics are welcome to join the team!
Major background: mechanical engineering, robotics, automation and control, computer, artificial intelligence, etc.
Students with experience in legged robot, reinforcement learning, model predictive control, visual perception, motion planning, C++, Python are preferred.

Some new projects will be added later.
[1]. Shanghai Academy of Spaceflight Technology, Research on autonomous mobile technology of a walking robot for rough terrain exploration, 2022.01-2022.12, PI
[2]. Shanghai Academy of Spaceflight Technology, Research on the walking mechanism of lunar robot, 2022.01-2022.12, PI
[3]. National key research and development plan. Control system development and demonstration application of six-legged navigation robot for blind people, 2021.08-2022.12, PI
[4]. National Natural Science Foundation of China, Research on error compensation and control methods for hardware-in-the-loop simulation of space manipulator’s contact operation dynamic process, 2020.01-2023.12, PI
[5]. Shanghai Natural Science Foundation, Dynamic model identification and compensation technology of the multi-source uncertainties of six-axis parallel micro-nano manipulation robot, 2019.07-2022.06, PI
[6]. Research Fund of State Key Lab of Mechanical System and Vibration of China, Research Fund of State Key Lab of Mechanical System and Vibration of China, Modeling and calibration of a six-axis parallel micro/nano manipulation robot, 2019.1-2020.12, PI
[7]. China Academy of Space Technology, Testing of the tolerance performance of active part for small berthing mechanisms, 2019.11-2022.11, PI
[8]. Shanghai Academy of Spaceflight Technology, Digital model design for heterogeneous group robots and their demonstration and verification in a simulation environment, 2019.9-2019.12, PI
[9]. China Academy of Space Technology, Research on high efficiency mobile mechanism technology for complex terrain, 2018-2019, PI
[10]. National key research and development plan – Inter-government key program on international scientific and technological innovation cooperation. Research and innovation plan on Smart robot for fire-fighting. 2018.4-2021.3, Co-PI
[11]. National Natural Science Foundation of China, Research on innovative design on complex mechanisms of a new type of integrated landing and walking lander, 2018.01-2022.12, Co-PI
[12]. Space Science and Technology Fund of CASIC, Hardware-in-the-loop simulation technology on the ground for space robot capturing, 2017.01-2017.12, PI
[13]. National Science and Technology Major Project of China: Research on key technologies of turn-over platform for remainder particle cleaning of launch vehicle tank, 2017.01-2019.12, Co-PI
[14]. National Natural Science Foundation of China, Design and synthesis of distributed predictive control system under CPS structure, 2017.01-2020.12, Co-PI
[15]. National Natural Science Foundation of China, Data-driven modeling and compensation for uncertain dynamics of the micro-manipulation robot, 2015.01-2018.12, PI
[16]. Research Fund of State Key Lab of Mechanical System and Vibration of China, Research Fund of State Key Lab of Mechanical System and Vibration of China, Research on simulation and experiment for hardware-in-the-loop simulation of space contact, 2015.1-2016.12, PI
[17]. Shanghai Natural Science Foundation, Fault-tolerant design and gait planning for remote detection and operation multi-legged robots, 2014.7.1-2017.6.30, PI
[18]. National Natural Science Foundation of China, Energy collection and transmission of new large-power offshore wind and wave power equipment, 2014.01-2018.12, Co-PI
[19]. National Natural Science Foundation of China, Coordination strategy and system synthesis for predictive control of distributed systems, 2014.01-2016.12, Co-PI
[20]. National Natural Science Foundation of China, Performance evaluation and experiment for a novel motor-hydraulic actuator designed for walking robots, 2014.01-2016.12, Co-PI
[21]. National Basic Research Program of China (973 Program), Master-slave and autonomy coordination control for rescue robots, 2013.1.1-2017.8.31, Co-PI
[22]. National Natural Science Foundation of China, Design and application of spatial hybrid neuro-fuzzy controller for spatially distributed dynamic systems, 2013.01-2016.12, Co-PI
[23]. Shanghai Aerospace System Engineering Research Institute, Hardware-in-the-loop contact simulator for space robots, 2013.01-2014.09, Co-PI
[24]. EUROPEAN COMMISSION Research Executive Agency Marie Curie Actions – International Research Staff Exchange Scheme, Real-time adaptive networked control of rescue robots (RABOT), 2012.07.02 – 2016.07.01, Co-PI
[25]. Research Fund of State Key Lab of Mechanical System and Vibration of China, Control of multi-legged rescue robots, 2012.1-2013.12, PI
[26]. National Natural Science Foundation of China, Crawling and positioning integrated redundant parallel robots for drilling of aircraft components, 2012.1-2015.12, Co-PI
[27]. National Natural Science Foundation of China, Modeling and spatial field reconstruction of distributed parameter systems based on spatio-temporal multiple models, 2011.1-2013.12, PI
[28]. Specialized Research Fund for the Doctoral Program of Higher Education of China, Data learning based synthesized compensation for multiple unmodelled dynamics in the nano manipulation system, 2011.1-2013.12, PI
[29]. National Hi-Tech Research and Development Program of China (863 Program), Key techniques of mechanisms, actuation and control for high-performance bio-inspired four-legged robots, 2011.1.1-2012.09.30, Co-PI

Journal Paper：
[1]. Xin Liu, Jinze Wu, Yufei Xue, Chenkun Qi, Guiyang Xin, Feng Gao. Skill Latent Space based Multi-Gait Learning for a Legged Robot. IEEE Transactions on Industrial Electronics, Accepted.
[2]. Jinze Wu, Guiyang Xin, Chenkun Qi, Yufei Xue. (2023). Learning robust and agile legged locomotion using adversarial motion priors. IEEE Robotics and Automation Letters, 8(8), 4975-4982.
[3]. Jianfeng Lin, Chenkun Qi, Yan Hu, Feng Gao. A Novel Heavy Payload High-Resolution Actuator System: Design, Modeling and Experiments. IEEE Sensors Journal, Accepted.
[4]. Hao Zheng, Chenbo Liang, Feng Gao, Chenkun Qi, Bingze He, Renqiang Liu, Longhai Chen. Design of a Novel Macro-Micro Integrated Brain Surgery Robot Based on Modular Parallel Mechanisms. Chinese Journal of Mechanical Engineering, Accepted.
[5]. Xin Liu, Chenkun Qi, Jianfeng Lin, Dongjin Li, Feng Gao. (2025). An Actuation Acceleration based Kinematic Modeling and Parameter Identification Approach for a six-DOF 6-PSU Parallel Robot with Joint Clearances. Journal of Mechanisms and Robotics, 17, 011005.
[6]. Jianfeng Lin, Chenkun Qi, Yan Hu, Feng Gao. (2024). Optimization Design and Key-Term Separation Identification of Parallel Six-dimensional Pose Sensor with High Sensitivity and High Precision. Mechanism and Machine Theory, 203, 105716
[7]. Chenkun Qi, Donglin Li, Yan Hu, Yi Zheng, Chengwei Hu, Youyu Wag, Feng Gao. (2024). A Force- and Position-based Distortion Compensation Method for a Hybrid Simulator of Space Docking. Journal of Aerospace Engineering, 37(3), 04024004.
[8]. Xin Xu, Chenkun Qi, Liangliang Han, Zhijun Chen, Feng Gao, Weijun Wang, Meng Chen, Xianbao Chen. (2024). Multiple Terrain Traversal Capabilities based Mechanism Dimension Design for a Six-Legged Robot using Performance Charts from Analytical Conditions. Mechanism and Machine Theory, 201, 105731.
[9]. Jianfeng Lin, Chenkun Qi, Yuxuan Xue, Xinyu Liu, Yichen Wang, and Feng Gao. (2024). A Method Toward Comprehensive Identification for Piezoelectric Dynamic System with Multi-modal Hysteresis and Uncertainty Compensation. IEEE Transactions on Instrumentation & Measurement, 76, 9506810.
[10]. Jianfeng Lin, Chenkun Qi, Yuxuan Xue, Yichen Wang, Xinyu Liu, and Feng Gao. (2024). Actuation Force Modeling and Identification for Piezoelectric Actuator with Neural Network Compensator and Nonlinear Hysteresis. IEEE Sensors Journal, 24(2), 1606-1614.
[11]. Zhijun Chen, Qingxing Xi, Chenkun Qi, Xianbao Chen, Yue Gao, Feng Gao. (2024). Fault-tolerant Gait Design for Quadruped Robots with Two Locked Legs using the GF Set Theory. Mechanism and Machine Theory, 195, 105592.
[12]. Qibo Liu, Shaoyuan Li, Yi Zheng, Chenkun Qi, Min Luo. (2024). Learning-based Distributed Model Predictive Control Approximation Scheme with Guarantees. IEEE Transactions on Industrial Informatics, 20(4), 5308-5317.
[13]. Weijun Wang, Yuxin Cui, Chenkun Qi, Yanyan Cao, Yuhua Zhang, Chongfeng Zhang, Shigang Wang. (2023). Design of In-Orbit Sample Container Transfer Mechanism for Chang’E-5 Lunar Sample Return Mission. Aerospace, 10(12), 992.
[14]. Hao Zheng, Chenbo Liang, Feng Gao, Chenkun Qi. (2023). Automatic Surface Polishing Based on Probe Measurement and Force-Position Decoupling Control. The International Journal of Advanced Manufacturing Technology, 129: 2429-2442.
[15]. Weijun Wang, Chongfeng Zhang, Chenkun Qi, Lijia Fu, Shigang Wang. (2023). Stiffness design of active capture claw-type docking mechanism for lunar sample return. Aerospace, 10(9), 794.
[16]. Chenkun Qi, Huayang Li, Xianbao Chen, Zhijun Chen, Weijun Wang, Feng Gao. (2023). Mechanism design and workspace analysis of a hexapod robot with changeable morphology. Journal of Mechanical Design, 145(11): 113302.
[17]. Chenkun Qi, Huayang Li, Feng Gao, Xianbao Chen, Yue Zhao, Zhijun Chen. (2023). Implementing the analytical reachable body workspace for calculating the obstacle-crossing ability of a hexapod robot. Journal of Mechanisms and Robotics, 15(6): 061017.
[18]. Chenkun Qi, Dongjin Li, Yan Hu, Yi Zheng, Weijun Wang, Xing Shou, Feng Gao. (2023). Learning-based distortion compensation for a hybrid simulator of space docking. IEEE Robotics and Automation Letters, 8(6): 3446-3453.
[19]. Chenkun Qi, Dongjin Li, Yan Hu, Feng Gao, Wenlong Wang, Wei Ma. (2023). Stability analysis and distortion compensation of robot structure dynamics for a hybrid simulator. Journal of Mechanical Design, 145(7): 073302.
[20]. Chenkun Qi, Jianfeng Lin, Xin Liu, Feng Gao, Yi Yue, Yan Hu, Baochen Wei. (2023). A modeling method for a 6-sps perpendicular parallel micro-manipulation robot considering the motion in multiple nonfunctional directions and nonlinear hysteresis. Journal of Mechanical Design, 145(5): 053301.
[21]. Jianfeng Lin, Chenkun Qi, Feng Gao, Yi Yue, Yan Hu, Baochen Wei. (2023). Modeling and verification for a three-degree-of-freedom flexure-based planar parallel micro manipulator. Journal of Mechanisms and Robotics, 15(4): 041006.
[22]. Zhijun Chen, Qingxing Xi, Feng Gao, Chenkun Qi, Yan Hu. (2023). Generation of Eight New Classes of the 2UPS-UP Mechanism with Analytical Forward Kinematics Solution. Mechanism and Machine Theory, 181, 105198.
[23]. Chenkun Qi, Dongjin Li, Wei Ma, Qingqing Wei, Wenming Zhang, Wenlong Wang, Yan Hu, Feng Gao. (2022). Distributed delay compensation for a hybrid simulation system of space manipulator capture. IEEE/ASME Transactions on Mechatronics, 27(4): 2367-2378.
[24]. Huayang Li, Chenkun Qi, Feng Gao, Xianbao Chen, Yue Zhao, Zhijun Chen. (2022). Mechanism design and workspace analysis of a hexapod robot. Mechanism and Machine Theory, 174: 104917.
[25]. Ke Yin, Chenkun Qi, Yue Gao, Qiao Sun, Feng Gao. (2022). Landing control method of a lightweight four-legged landing and walking robot. Frontiers of Mechanical Engineering, 17(4): 51.
[26]. Jianfeng Lin, Chenkun Qi, Feng Gao, Yi Yue, Yan Hu, Yuze Wu. (2022). Integration modeling and control of a 12-DOF macro-micro dual parallel manipulator. Proceedings of the Institution of Mechanical Engineers, Part C - Journal of Mechanical Engineering Science, 236(11): 6064-6076.
[27]. Baochen Wei, Yi Yue, Xianchao Zhao, Yanbiao Li, Chenkun Qi. (2022). Design and experiment of a novel 4-dof vibration isolating system. International Journal of Robotics and Automation, 37(2): 182-191.
[28]. Feng Gao, Shuo Li, Yue Gao, Chenkun Qi, Qiyan Tian, Guang-Zhong Yang. (2022). Robots at the Beijing 2022 Winter Olympics, Science Robotics, 7(65), eabq0785.
[29]. Yi Zheng, Tongqiang Zhang, Shaoyuan Li, Chenkun Qi, Yueyan Zhang, Yanye Wang. (2022). Data-driven distributed model predictive control of continuous nonlinear systems with Gaussian process. Industrial and Engineering Chemistry Research, 61(49), 18187-18202.
[30]. Chenkun Qi, Jianfeng Lin, Yuze Wu, Feng Gao. (2021). A wiener model identification for creep and vibration linear and hysteresis nonlinear dynamics of piezoelectric actuator. IEEE Sensors Journal, 21(24), 27570-27581.
[31]. Chenkun Qi, Wenlong Wang, Dongjin Li, Yan Hu, Feng Gao. (2021). Convergence Compensation for Space Contact Semiphysical Simulator Based on Mechanical Structure Dynamics. Journal of Aerospace Engineering, 34(5): 04021066.
[32]. Huayang Li, Chenkun Qi, Liheng Mao, Yue Zhao, Xianbao Chen, Feng Gao. (2021). Staircase-climbing capability-based dimension design of a hexapod robot. Mechanism and Machine Theory, 164, 104400.
[33]. Yan Hu, Feng Gao, Chenkun Qi, Xianchao Zhao, Qian Wang. (2021). A force and moment compensation method for a hardware-in-the-loop docking simulator based on the stiffness identification of the docking mechanism. Mechatronics, 76, 102513.
[34]. Yan Hu, Feng Gao, Xianchao Zhao, Tianhao Yang, Haoran Shen, Chenkun Qi, Rui Cao. (2021). A parameter dimension reduction-based estimation approach to enhance the kinematic accuracy of a parallel hardware-in-the-loop docking simulator. Robotica, 39(6), 959-974.
[35]. Qian Wang, Chenkun Qi, Feng Gao, Xianchao Zhao, Anye Ren, Qiao Sun. (2019). Force based delay compensation for hardware-in-the-loop simulation divergence of 6-dof space contact. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 233(1): 151-165.
[36]. Chenkun Qi, Feng Gao, Xianchao Zhao, Qian Wang, Qiao Sun. (2018). Distortion compensation for a robotic hardware-in-the-loop contact simulator. IEEE Transactions on Control Systems Technology, 26(4): 1170-1179.
[37]. Chenkun Qi, Anye Ren, Feng Gao, Xianchao Zhao, Qiao Sun. (2018). Hybrid smith predictor and phase lead based divergence compensation for hardware-in-the-loop contact simulation with measurement delay. Acta Astronautica, 147, 175-182.
[38]. Yue Zhao, Xun Chai, Feng Gao, Chenkun Qi. (2018). Obstacle avoidance and motion planning scheme for a hexapod robot Octupus-III. Robotics and Autonomous Systems, 103, 199-212.
[39]. Qian Wang, Chenkun Qi, Feng Gao, Xianchao Zhao, Anye Ren, Yan Hu. (2018). Normal contact stiffness identification based force compensation for a hardware-in-the-loop docking simulator. Advanced Robotics, 32(5), 266-282.
[40]. Xun Chai, Feng Gao, Chenkun Qi, Yang Pan, Yilin Xu, Yue Zhao. (2017). Obstacle avoidance for a hexapod robot in unknown environment. Science China Technological Sciences, 60, 818-831.
[41]. Chenkun Qi, Xianchao Zhao, Feng Gao, Anye Ren, Yan Hu. (2017). Low-order model based divergence compensation for hardware-in-the-loop space contact simulation. Journal of Intelligent & Robotic Systems. 86(1), 81-93.
[42]. Chenkun Qi, Feng Gao, Xianchao Zhao, Anye Ren, Qian Wang. (2017). A force compensation approach towards divergence of hardware-in-the-loop contact simulation system for damped elastic contact. IEEE Transactions on Industrial Electronics, 64(4), 2933-2943.
[43]. Chenkun Qi, Anye Ren, Feng Gao, Xianchao Zhao, Qian Wang, Qiao Sun. (2017). Compensation of velocity divergence caused by dynamic response for hardware-in-the-loop docking simulator. IEEE/ASME Transactions on Mechatronics, 22(1), 422-432.
[44]. Anye Ren, Chenkun Qi, Feng Gao, Xianchao Zhao, Qiao Sun. (2017). Contact stiffness identification for hardware-in-the-loop contact simulator with delay and structural compensation. Journal of Intelligent & Robotic Systems, 86(3), 325-333.
[45]. Feng Gao, Chenkun Qi, Anye Ren, Xianchao Zhao, Rui Cao, Qiao Sun, Qian Wang, Yan Hu, Jun He, Zhenlin Jin, Renqiang Liu, Yong Zhang, Weizhong Guo, Zhenyu Hu, Ping Tang, Bo Ni, Qianfeng Jing, Weijun Wang, Peng Gao. (2016). Hardware-in-the-loop simulation for the contact dynamic process of flying objects in space. Science China Technological Science, 59(8), 1167-1175.
[46]. Chenkun Qi, Xianchao Zhao, Feng Gao, Anye Ren, Yan Hu. (2016). Divergence compensation for hardware-in-the-loop simulation of stiffness-varying discrete contact in space. Acta Astronautica, 128, 295-303.
[47]. Chenkun Qi, Feng Gao, Xianchao Zhao, Anye Ren, Qian Wang, Qiao Sun, Yan Hu, Li Qiao. (2016). Smith predictor based delay compensation for a hardware-in-the-loop docking simulator. Mechatronics, 36, 63-76.
[48]. Chenkun Qi, Xianchao Zhao, Feng Gao, Anye Ren, Qiao Sun. (2016). Contact stiffness and damping identification for hardware-in-the-loop contact simulator with measurement delay compensation. Acta Astronautica. 123, 171-180.
[49]. Chenkun Qi, Feng Gao, Han-Xiong Li, Xianchao Zhao, Liming Deng. (2016). A neural network based distributed parameter model identification approach for micro-cantilever. Proceedings of the Institution of Mechanical Engineers Part C - Journal of Mechanical Engineering Science, 230(20), 3663-3676.
[50]. Qiao Sun, Feng Gao, Chenkun Qi, Xianbao Chen. (2016). A simplified control method to achieve stable and robust quadrupedal quasi-passive walking with compliant legs. Journal of Bionics Engineering, 13(4), 585-599.
[51]. Yang Pan, Feng Gao, Chenkun Qi, Xun Chai. (2016). Human-tracking strategies for a six-legged rescue robot based on distance and view. Chinese Journal of Mechanical Engineering, 29(2), 219-230.
[52]. Xinghua Tian, Feng Gao, Chenkun Qi, Xianbao Chen, & Dan Zhang. (2016). External disturbance identification of a quadruped robot with parallel-serial leg structure. International Journal of Mechanics and Materials in Design. 12(1), 109-120.
[53]. Mengling Wang, Chenkun Qi, HuaichengYan, & Hongbo Shi. (2016). Hybrid neural network predictor for distributed parameter system based on nonlinear dimension reduction. Neurocomputing, 171, 1591-1597.
[54]. Chenkun Qi, Feng Gao, Han-Xiong Li, Shaoyuan Li, Xianchao Zhao, & Yi Dong. (2015). An incremental Hammerstein-like modeling approach for the decoupled creep, vibration and hysteresis dynamics of piezoelectric actuator. Nonlinear Dynamics. 82, 2097-2118.
[55]. Xun Chai, Feng Gao, Yang Pan, Chenkun Qi and Yilin Xu. (2015). A novel identification methodology for the coordinate relationship between a 3d vision system and a legged robot. Sensors, 15(4), 9519-9546.
[56]. Xianbao Chen, Feng Gao, Chenkun Qi, & Xinghua Tian (2015). Gait planning for a quadruped robot with one fault actuator. Chinese Journal of Mechanical Engineering, 28(1), 11-19.
[57]. Xianbao Chen, Feng Gao, Chenkun Qi, Xinghua Tian, & Lin Wei. (2015). Kinematic analysis and motion planning of a quadruped robot with partially faulty actuators. Mechanism and Machine Theory, 94, 64-79.
[58]. Xinghua Tian, Feng Gao, Chenkun Qi, & Xianbao Chen (2015). Reaction forces identification of a quadruped robot with parallel-serial leg structure. Proceedings of the Institution of Mechanical Engineers Part C - Journal of Mechanical Engineering Science, 229(15), 2774-2787.
[59]. Chenkun Qi, Han-Xiong Li, Shaoyuan Li, Xianchao Zhao, & Feng Gao (2014). A fuzzy-based spatio-temporal multi-modeling for nonlinear distributed parameter processes. Applied Soft Computing, 25, 309-321.
[60]. Taoran Liu, Feng Gao, Xianchao Zhao, & Chenkun Qi (2014). Static balancing of spatial six-degree-of-freedom decoupling parallel mechanism. Journal of Mechanical Science and Technology, 28(1), 191-199.
[61]. Taoran Liu, Feng Gao, Chenkun Qi, & Xianchao Zhao (2014). Partial dynamic balancing of a 6-DOF haptic device. Proceedings of the Institution of Mechanical Engineers, Part C, Journal of Mechanical Engineering Science, 228(14), 2632-2641.
[62]. Xianbao Chen, Feng Gao, Chenkun Qi, Xinghua Tian, & Jiaqi Zhang. (2014). Spring parameters design for the new hydraulic actuated quadruped robot. Journal of Mechanisms and Robotics, 6(2), 021003.


Conference Paper：
[1]. Yufei Xue, Chenkun Qi, Xin Liu, Xin Xu. (2024). Learning the robust locomotion on complex terrain combined with model predictive control. The 43nd Chinese Control Conference (CCC2024), Kunming, China, July 28-31, 2024.
[2]. Xiaoyu Li, Ang Li, Xin Liu, Yufei Xue, Xin Xu, Chenkun Qi. (2024). Learning Graphic Convolutional Network Based Quadruped Locomotion on Complex Terrain. 2024 China Automation Congress (CAC), Qingdao, China, Nov 1-3, 2024.
[3]. Zhaohui Xu, Xin Liu, Chenkun Qi. (2023). A Motion-Adaptive Parallax-based Monocular Visual Odometry. The 42nd Chinese Control Conference (CCC2023), Tianjin, China, July 24-26, 2023.
[4]. Kangle Qian, Weijun Wang, Jia Ma, Liangliang Han, Meng Chen, Chenkun Qi. (2023). Self-supervised Lunar Surface Image Feature Point Detection and Matching. The 2023 IEEE International Conference on Real-time Computing and Robotics (IEEE RCAR 2023), Datong, China, July 17 - 22, 2023.
[5]. Xin Liu, Jianfeng Lin, Dongjin Li, Chenkun Qi, Feng Gao. (2023). Multi-input multi-output sliding mode control with high precision and robustness for a 6-PSU parallel robot. The 16th International Conference on Intelligent Robotics and Applications, Hangzhou, China, July 5-7, 2023.
[6]. Xin Liu, Chenkun Qi, Jianfeng Lin, Dongjin Li, Feng Gao. (2023). Modeling and Identification of Kinematic Model with Joint Clearance for a 6-PSU Parallel Manipulator. The 42nd Chinese Control Conference (CCC2023), Tianjin, China, July 24-26, 2023.
[7]. Weijun Wang, Dongjin Li, Yan Hu, Chenkun Qi and Feng Gao. (2023). Hardware-In-The-Loop Ground Experimental System of Lunar Orbit Docking for Sample Return. The 2023 IEEE International Conference on Real-time Computing and Robotics (IEEE RCAR 2023), Datong, China, July 17 - 22, 2023.
[8]. Dongjin Li, Chenkun Qi, Yan Hu, Wenlong Wang, Feng Gao. (2023). Distortion Analysis and Compensation for Structure Dynamics of Ground Robot in Hybrid Simulation. The 2023 IEEE International Conference on Real-time Computing and Robotics (IEEE RCAR 2023), Datong, China, July 17 - 22, 2023.
[9]. Yunpeng Yin, Feng Gao, Zhijun Chen, Qiao Sun, Yue Zhao, Yuguang Xiao, Chenkun Qi. (2023). Little Strong and Little Stronger: Design and Control of the Twin Hexapods. The 2023 IEEE International Conference on Real-time Computing and Robotics (IEEE RCAR 2023), Datong, China, July 17 - 22, 2023.
[10]. Hao Zheng, Tenghui Wang, Feng Gao, Chenkun Qi, Renqiang Liu. Kinematics Analysis and Control of a Novel Macro-Micro Integrated Hybrid Robot for Medical Surgery. The 16th International Conference on Intelligent Robotics and Applications, Hangzhou, China, July 5-7, 2023.
[11]. Jianfeng Lin, Chenkun Qi, Yan Hu, Songlin Zhou, Xin Liu, and Feng Gao. Geometrical Parameter Identification for 6-DOF Parallel Platform. The 15th International Conference on Intelligent Robotics and Applications, Harbin, China, August 1-3, 2021.
[12]. Huayang Li, Chenkun Qi, Feng Gao, Xianbao Chen, Meng Chen. Morphology Design and Dimensional Synthesis of a Hexapod Robot. 2022 IFToMM China International Conference on Mechanism and Machine Science & Engineering, Yantai, China, 30 July to 1 August 2022.
[13]. Jianfeng Lin, Chenkun Qi, Yuze, Wu, Feng Gao. (2021). A calibration method of compliant planar parallel manipulator. The 14th International Conference on Intelligent Robotics and Applications, Yantai, China, August 6-8, 2021.
[14]. Huayang Li, Chenkun Qi, Xianbao Chen, Liheng Mao, Yue Zhao, Feng Gao. (2021). Stair Climbing Capability-Based Dimensional Synthesis for the Multi-Legged Robot. 2021 IEEE International Conference on Robotics and Automation (ICRA 2021), Xi'an, China, 30 May to 5 June 2021.
[15]. Ke Yin, Feng Gao, Qiao Sun, Jimu Liu, Tao xiao, Jianzhong Yang, Shuiqing Jiang, Xianbao Chen, Jing Sun, Renqiang Liu, Chenkun Qi. (2021). Stair Climbing Design and soft-landing control of a six-legged mobile repetitive lander for lunar exploration. 2021 IEEE International Conference on Robotics and Automation (ICRA 2021), Xi’an, China, 30 May to 5 June 2021.
[16]. Shiqing Wei, X Chen, Xiaoyuan Zhang, Chenkun Qi. (2020). Towards Safe and Socially Compliant Map-Less Navigation by Leveraging Prior Demonstrations. 13th International Conference on Intelligent Robotics and Applications, ICIRA 2020, Kuala Lumpur, 5 November 2020 - 7 November 2020, 255209.
[17]. Huayang Li, Chenkun Qi, Feng Gao, Xianbao Chen. (2020). Optimal Workspace Design for the 5R Symmetric Parallel Leg Mechanism. 2020 IFToMM China International Conference on Mechanism and Machine Science (CCMMS2020), Xi’an, China, September 25-27, 2020.
[18]. Xiaoyuan Zhang, Biao Zhang, Chenkun Qi, Zhousu Li and Huayang Li. An online motion planning approach of mobile robots in distinctive homotopy classes by a sparse roadmap. The 12th International Conference on Intelligent Robotics and Applications, Shenyang, China, August 8-11, 2019.
[19]. Biao Zhang, Xiaoyuan Zhang, Baochen Wei and Chenkun Qi. A point cloud distortion removing and mapping algorithm based on Lidar and IMU UKF fusion. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Hong Kong, July 8-12, 2019.
[20]. Huayang Li, Chenkun Qi, Yan Xing, Yong Hu & Feng Gao. Leg spring parameters design for a six-legged walking robot. 2019 IEEE International Conference on Robotics and Biomimetics, Dali, China, December 6-8, 2019.
[21]. Chenkun Qi, Yan Hu, Dongjin Li, Fengbo Dong, Dan Zhang, and Feng Gao. Verifications of delay compensation for a hybrid motion table. 2019 IEEE International Conference on Robotics and Biomimetics, Dali, China, December 6-8, 2019.
[22]. Weiyi Zhang, Chenkun Qi. Pose estimation by key points registration in point cloud. The 3rd International Symposium on Autonomous Systems, Shanghai, China, May 29-31, 2019.

[1]. Walking Robotic Mechanisms, Graduate course, Shanghai Jiao Tong University, 2013-now
[2]. Modeling, Analysis and System Control, Undergraduate course, Shanghai Jiao Tong University, 2021-now
[3]. Intelligent Control Technology, Graduate course, Shanghai Jiao Tong University, 2019-2021
[4]. System Modeling and Application, Undergraduate course, Shanghai Jiao Tong University, 2012-2019

[1]. Chenkun Qi, Dongjin Li, Meng Chen, Junkai Jia, Wenqi Zhang, Xuemei Ju. Biped and quadruped switchable variable topology robot. Invention patent. Authorization date: October 14, 2022.
[2]. Chenkun Qi, Meng Chen, Feng Gao, Dongjin Li, Junkai Jia, Wenqi Zhang, Xuemei Ju. Wheel-legged variable structure robot. Invention patent. Authorization date: March 01, 2022.
[3]. Chenkun Qi, Feng Gao, Huayang Li, Yan Xing, Junkai Jia, Yong Hu, Xianbao Chen. UPS-based parallel structure wheel-legged mobile robot. Invention patent. Authorization date: April 08, 2022.
[4]. Chenkun Qi, Feng Gao, Huayang Li, Yan Xing, Junkai Jia, Xianbao Chen, Yong Hu. Wheel-legged mobile robot based on UP and UPS parallel structure. Invention patent. Authorization date: June 28, 2022.
[5]. Feng Gao, Zhenlin Jin, Rui Cao, Yong Zhang, Chenkun Qi, Xianchao Zhao. 6-DOF 3-3 orthogonal parallel robot. Invention patent. Authorization date: May 25, 2016.
[6]. Feng Gao, Zhenlin Jin, Xinghua Tian, Chenkun Qi, Jing Wang. Quadruped walking robot with isotropic hybrid leg configuration. Invention patent. Authorization date: August 28, 2013.
[7]. Feng Gao, Zhenlin Jin, Xinghua Tian, Chenkun Qi, Xianchao Zhao. New quadruped walking robot with parallel legs. Invention patent. Authorization date: May 22, 2013
[8]. Feng Gao, Xinghua Tian, Zhenlin Jin, Chenkun Qi, Xianchao Zhao. Hydraulic-driven spatial hybrid mechanism quadruped robot. Invention patent. Authorization date: 2013.04.17
[9]. Feng Gao, Xinghua Tian, Zhenlin Jin, Chenkun Qi, Weizhong Guo. (2013). Four-legged walking robot with 12-DOFs hybrid mechanism legs. Invention patent. Authorization date: 2013.03.27.
[10]. Feng Gao, Xinghua Tian, Zhenlin Jin, Chenkun Qi, Weizhong Guo. (2013). Bioinspired four-legged robot with hybrid mechanism legs and ankle joints. Invention patent. Authorization date: 2013.05.22.

1. MEMBERSHIPS IN SCIENTIFIC ASSOCIATIONS
Member of ASME
Senior Member of IEEE
Member of IEEE Robotics and Automation Society
Senior Member of Chinese Mechanical Engineering Society
Senior Member of Chinese Association of Automation

2. ORGANIZATION OF CONFERENCES
Program Committee. The 18th International Conference on Intelligent Autonomous System (IAS-18), Suwon, Korea, July 4-7, 2023.
Program Committee. The 17th International Conference on Intelligent Autonomous System (IAS-17), Zagreb, Croatia, June 13-16, 2022.
Program Committee. The 16th International Conference on Intelligent Autonomous System (IAS-16), Singapore, June 22-25, 2021.
Technical Program Committee. 2017 IEEE International Conference on Robotics and Biomimetics, Macau SAR, China, December 4-8, 2017.
Local Organizing Committee. The 2nd IFToMM International Symposium on Robotics and Mechatronics (ISRM 2011), Shanghai, China, November 3-5, 2011.
Local Organizing Committee. The 2010 EMARO Meeting and Workshop "European Master on Advanced Robotics", Shanghai, China, July 7-9, 2010.

3. JOURNAL ASSOCIATE EDITOR
ASME Journal of Mechanical Design

4. JOURNAL YOUNG EXPERT: SECTION EDITOR
Engineering

5. REVIEWER
IEEE Robotics and Automation Letters
IEEE Transactions on Industrial Electronics
IEEE Transactions on Industrial Informatics
IEEE Transactions on Automatic Control
IEEE Transactions on Neural Networks
ASME Journal of Mechanisms and Robotics
ASME Journal of Dynamic Systems, Measurement and Control
IEEE/ASME Transactions on Mechatronics
Mechanism and Machine Theory
Automatica
Mechatronics
Robotics and Autonomous Systems
Robotica
Journal of Process Control
Asian Journal of Control
Nonlinear Dynamics
Robotics and Computer Integrated Manufacturing

[1]. Intelligent parallel robot technology for hybrid simulation of space contact and docking. The Eighth Wu Wenjun AI Science and Technology Awards, 2018.
[2]. 6-DOF 3-3 orthogonal parallel robot. The 20th China Patent Award: Excellence Award, 2018.
[3]. Design of space contact and docking simulation robot. China Good Design, Silver Award, 2015.