巴凱先

論文成果

代表性論著：
1.巴凱先.足式機器人腿部液壓驅動系統參數靈敏度理論, 科學出版社（國家級出版社），2022.(獨著，學術專著，22.1萬字，由中國博士後優秀學術出版專著基金資助(全國每年共資助30本))
2.Kai-xian Ba, Yan-he Song, Bin Yu*, Chun-yu Wang, Hua-shun Li, Jun-xiao Zhang, Guo-liang Ma*. Kinematics correction algorithm for the LHDS of a legged robot with semi-cylindrical foot end based on V-DOF[J]. Mechanical Systems and Signal Processing, 167, 2022: 108566. (中科院一區TOP期刊，If:6.823)
3.Kai-xian Ba, Yan-he Song, Ya-peng Shi, Chun-yu Wang, Guo-liang Ma, Yuan Wang, Bin Yu*, Li-peng Yuan.A Novel One-Dimensional Force Sensor Calibration Method to Improve the Contact Force Solution Accuracy for Legged Robot [J]. Mechanism and Machine Theory, 169, 2022: 104685. (中科院一區TOP期刊，If:3.862，ESI高被引論文)
4.Kai-xian Ba, Yan-he Song, Chun-yu Wang, Ya-peng Shi, Bin Yu*, Xin Chen, Guo-liang Ma, Xiang-dong Kong. A Novel Kinematics and Statics Correction Algorithm of Semi-cylindrical Foot End Structure for 3-DOF LHDS of Legged Robots[J]. Complex & Intelligent Systems, 2022
5.Kai-xian Ba, Bin Yu, Zheng-jie Gao, Qi-xin Zhu, Guo-liang Ma, Xiang-dong Kong*. An improved force-based impedance control method for the HDU of legged robot [J]. ISA Transactions, 84, 1, 2019: 187-205. (中科院二區TOP期刊，If:5.468，ESI高被引論文)
6.Kai-xian Ba, Bin Yu*, Qi-xin Zhu, Zheng-jie Gao, Guo-liang Ma, Zheng-guo Jin, Xiang-dong Kong. The position-based impedance control combined with compliance-eliminated and feedforward compensation for HDU of legged robot[J]. Journal of the Franklin Institute--Engineering and Applied Mathematics, 356, 16, 2019: 9232-9253. (中科院二區TOP期刊，If:4.504)
7.Kai-xian Ba, Yan-he Song, Chun-yu Wang, Ya-peng Shi, Bin Yu*, Xin Chen,Guo-liang Ma.A Novel Kinematics and Statics Correction Algorithm of Semi-cylindrical Foot End Structure for 3-DOF LHDS of Legged Robots [J]. Complex &Intelligent Systems, 2022. (中科院二區期刊，If:4.923，已錄用)
8.Qixin Zhu, Dunhao Huang, Bin Yu, Kaixian Ba*, Xiangdong Kong, Shoukun Wang. An Improved Method Combined SMC and MLESO for Impedance Control of Legged Robots' Electro-Hydraulic Servo System[J]. ISA Transactions, 2022. (中科院二區TOP, IF=5.468, 已錄用)
9.Kai-xian Ba, Yan-he Song, Bin Yu*, Xiao-long He, Zhi-peng Huang, Chun-he Li, Li-peng Yuan, Xiang-dong Kong. Dynamics compensation of impedance-based motion control for LHDS of legged robot[J]. Robotics and Autonomous Systems, 139, 2021, UNSP 103704. (中科院二區SCI，If:3.120)
10.Kai-xian Ba, Bin Yu, Qi-xin Zhu, Zheng-jie Gao, Guoliang Ma, Zheng-guo Jin, Xiang-dong Kong*. Second order matrix sensitivity analysis of force-based impedance control for leg hydraulic drive system[J]. Robotics and Autonomous Systems, 121, 2019, UNSP 103265. (中科院二區SCI，If:3.120)
11.Kai-xian Ba, Bin Yu*, Xiang-dong Kong, Chun-he Li, Qi-xin Zhu, Hua-long Zhao, Ling-jian Kong. Parameters sensitivity characteristics of highly integrated valve−controlled cylinder force control system [J]. Chinese Journal of Mechanical Engineering, 31, 1, 2018: UNSP43.(中科院三區SCI，If：1.936，卓越期刊行動計畫)
12.Kai-xian Ba, Guo-liang Ma, Bin Yu*, Zheng-guo Jin, Zhi-peng Huang, Jun-xiao Zhang, Xiang-dong Kong. A nonlinear model-based variable impedance parameters control for position-based impedance control system of hydraulic drive unit [J]. International Journal of Control, Automation and Systems, 18, 7, 2020, 1806-1817. (中科院三區SCI，If:3.314)
13.Kai-xian Ba, Bin Yu*, Ya-liang Liu, Zheng-guo Jin, Zheng-jie Gao, Jun-xiao Zhang Xiang-dong Kong. Fuzzy terminal sliding mode control with compound reaching law and time delay estimation for HDU of legged robot [J].Complexity, 2020, Article Number: 5240247 (中科院三區SCI，If:2.462)
14.Kai-xian Ba, Bin Yu*, Xiang-dong Kong, Hua-long Zhao, Jin-song Zhao, Qi-xin Zhu, Chun-he Li. The dynamic compliance and its compensation control research of the highly integrated valve-controlled cylinder position control system [J]. International Journal of Control, Automation and Systems, 15, 4, 2017: 1814-1825. (中科院三區SCI，If:3.314)
15.Kai-xian Ba, Bin Yu*, Guo-liang Ma, Qi-xin Zhu, Zheng-jie Gao, Xiang-dong Kong. A novel position-based impedance control method for bionic legged robots’HDU [J]. IEEE Access, 6, 1, 2018: 55680-55692. (中科院二區SCI，If:3.745)
16.Kai-xian Ba, Bin Yu*, Zheng-jie Gao, Wen-feng Li., Guo-liang Ma, Xiang-dong Kong. Parameters Sensitivity Analysis of Position-Based Impedance Control for Bionic Legged Robots’HDU [J]. Applied Science-Basel. 7, 10, 2017: 1035. (中科院三區SCI，If:2.474)
17.Xiang-dong Kong, Kai-xian Ba*, Bin Yu, Yuan Cao, Qi-xin Zhu, Hua-long Zhao. Force control compensation method with variable load stiffness and damping of the hydraulic drive unit force control system [J]. Chinese Journal of Mechanical Engineering, 29, 3, 2012: 454-464. (通訊作者，中科院三區SCI，卓越期刊行動計畫)
18.巴凱先, 孔祥東, 朱琦歆, 李春賀, 趙華龍, 俞濱*, 液壓驅動單元基於位置/力的阻抗控制與實驗研究[J],機械工程學報, 53, 12, 2017: 172-186. (EI，卓越期刊行動計畫)
19.Guo-liang Ma, Kai-xian Ba*, Zhi-wu Han, Zheng-guo Jin, Bin Yu, Xiang-dong Kong. A mathematical model including mechanical structure, hydraulic and control of LHDS [J]. Robotica, 2021, DOI:10.1017/ S0263574720001204. (通訊作者，中科院四區SCI，If:1.509)
20.Kai-xian Ba, Bin Yu*, Wen-feng Li, Dong-kun Wang, Ya-liang Liu, Guo-liang Ma，Xiang-dong Kong. Dynamic compliance and its compensation control research of HIVC force control system [J]. Journal of Electrical Engineering & Technology, 13, 2, 2018: 1008-1020. (中科院四區SCI,If:0.734)
21.Qi-xin Zhu, Bin Yu, Zhi-peng Huang, Kang Yan, Xiang-dong Kong, Kai-xian Ba*. State feedback-based impedance control for legged robot hydraulic drive unit via full-dimensional state observer[J]. International Journal of Advanced Robotic Systems, 2020, 17(3):1-15.(通訊作者，中科院四區SCI，If:1.482)

巴凱先

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