研究方向：智能机器人系统、具身智能、人形机器人感知与控制

个人简介：教授，机器人与智能制造实验室负责人，2025年度“上海工匠”。2014年于同济大学获得控制理论与控制工程专业博士学位，美国康奈尔大学联合培养博士（10-11年）。长期从事智能机器人感知与控制相关研究工作。在康奈尔大学期间，参与研发的双足机器人在运动优化方面创造吉尼斯世界纪录。主持和参与国家自然科学基金重点项目、上海市自然科学基金及企业横向课题等10余项；在国际或国内学术期刊上发表SCI/EI论文30余篇，授权及公开发明专利50余项，机器人控制专著1本；获得上海市技术发明一等奖1项，上海市科技进步二等奖1项。近年来，担任中国自动化学会具身智能专委会委员、中国自动化学会智能自动化专委会委员、中国人工智能学会智能机器人专委会委员、机器人领域国际国内期刊及顶级学术会议的审稿专家。此外，与知名高校及企业在智能机器人系统、视觉检测等领域开展深入产学研应用合作。

主要主持参与的项目：

[1] 国家自然科学基金面上项目，复杂场景中面向机器人灵巧操作任务的目标感知与位姿估计，2021.01-2024.12，合作单位负责人

[2] 国家自然科学基金重点项目，动态环境下服务机器人基于视觉的环境感知与自主行为学习，2018.01-2022.12，主要参与者

[3] 国家自然科学基金联合基金重点支持项目，仿人机器人适应性行走的生成机理及自主学习进化机制，2018.01-2021.12，主要参与者

[4] 上海市自然科学基金，具有屈膝行为的双足机器人行走机制与稳定性控制，2020.07-2023.06，项目负责人

[5] 上海市人工智能创新发展项目，关节随动智能视觉工业机器人系统，2017.03-2019.03，主要参与者

[6] 上海市自然科学基金，双足行走机器人的支撑腿被动伸缩机制及控制方法研究，2016.07-2019.06，项目负责人

[7] 企业委托横向，非结构化场景下的目标检测与感知技术，2021.10-2022.10，项目负责人

[8] 企业委托横向，协作机器人动力学及柔顺控制技术，2020.11-2021.11，项目负责人

[9] 企业委托横向，排爆机器人智能控制技术研发，2018.11-2019.11，项目负责人

[10] 企业委托横向，工业机器人运动控制关键技术，2017.12-2019.12，项目负责人

主要发表的论文：

2026年度：

[1] Lai Yi, Song Yaqing, Zhang Qixian, Wang Yue, An Kang*, Zhang Hui. Pose-Perceptive Convolution: Learning Geometry-Adaptive Receptive Fields for Robust 6D Pose Estimation. Sensors, 2026, 26(2): 10.3390/s26020453

[2] Zhang Hui, Zhao Xuerong, Luo Ruixue, Wang Ziyu, Wang Gang, An Kang*. A Roadmap of Mathematical Optimization for Visual SLAM in Dynamic Environments, Mathematics, 2026, 14(2): 10.3390/math14020264

2025年度：

[1] Zhang Hui, Wu Zhiyang, Li Hanting, Shangguan Qianqian, An Kang*. Geometry-constrained monocular scale estimation using semantic segmentation for dynamic scenes. IEEE Transactions on Instrumentation and Measurement, 2025, 74: 7514011 (SCI)

[2] Hu Yu; Liu Xiangpeng; An Kang*; Ji Yixuan; Qian Xingzhi; Peng Yulin; Chen Guo; Cao Yongxin; Wu Fuqiang; Cheng Yuhua. Optimizing Path Planning and Conflict Resolution in High-Density AS/RS With a Multishuttle Cooperative Scheduling Framework. IEEE Transactions On Instrumentation and Measurement, 2025, 74: 3547423 (SCI)

[3] Liu Xiangpeng, Han Jianjiao, Peng Yulin, Liang Qiao, An Kang*, He Fengqin, Cheng Yuhua*. DSiam-CnK: A CBAM- and KCF-Enabled Deep Siamese Region Proposal Network for Human Tracking in Dynamic and Occluded Scenes. Sensors, 2025, 24(24): 10.3390/s24248176 (SCI)

[4] Yang Ruixin, Zhang Jialin, Zhan Fengsheng, Yan Chao, Lu Sheng, Zhu Zhenggang, An Kang, Sun Jing, Yu Yingyan. Artificial intelligence efficiently predicts gastric lesions, Helicobacter pylori infection and lymph node metastasis upon endoscopic images. Chinese Journal of Cancer Research, 2025, 36(5): 10.21147/j.issn.1000-9604.2024.05.03 (SCI)

2024年度：

[1] An Kang, Duanmu Huiping, Wu Zhiyang, Liu Yuqiang, Qiao Jingzhen, Shangguan Qianqian, Song Yaqing, Xu Xiaonong. Enhancing Small Object Detection in Aerial Images: A Novel Approach with PCSG Model. Aerospace, 2024, 11(5), 392 (SCI)

[2] Ji Tangyu, Zhao Qian, An Kang*, Liu Dandan, Yu Wentao, Liang Shuang. A real-time PCB defect detection model based on enhanced semantic information fusion. Signal Image And Video Processing, 2024, 18(6-7): 4945-4959 (SCI)

[3] An Kang, Yue Yange, Xin Xin, Li Ming, Duanmu Huiping. Security analysis and improvement of DWFCAT. Digital Signal Processing, 2024, 153: 10.1016/j.dsp.2024.104638 (SCI)

[4] Zhou Qirui, Liu Dandan, An Kang*. ESE-YOLOv8: A Novel Object Detection Algorithm for Safety Belt Detection during Working at Heights. Entropy, 2024, 26(7): 10.3390/e26070591 (SCI)

[5] An Kang, Wu Zhiyang, Shangguan Qianqian, Song Yaqing, Xu Xiaonong. Robust Learning from Demonstration Based on GANs and Affine Transformation. Applied Sciences-Basel, 2024, 14(7): 10.3390/app14072902 (SCI)

2023年度：

[1] Zhang Wenhao, Song Yaqing, Liu Xiangpeng, Shangguan Qianqian, An Kang*. A novel action decision method of deep reinforcement learning based on a neural network and confidence bound. Applied Intelligence, 2023, 5: https://doi.org/10.1007/s10489-023-04695-1 (SCI)

[2] Liu Xiangpeng, Duanmu Huiping, An Kang*, Wang Wancheng, Song Yaqing, Gu Qingying, Yuan Bo, Wang Danning. 6D pose estimation of object based on fused region-level feature in cluttered scenes, Measurement Science and Technology, 2023, 34 (7): 10.1088/1361-6501/acc603 (SCI)

[3] An Kang, Sun Xiaoqing, Song Yaqing, Lu Yebin, Shangguan Qianqian. A DenseNet-based feature weighting convolutional network recognition model and its application in industrial part classification. IET Image Processing, 2023, 18(3): 589-601 (SCI)

[4] Chen Ziyu, An Kang*, Wang Zibo, Miao Tiantian, Song Yaqing, Shangguan Qianqian. Dynamic Optimization of Mechanism Parameters of Bipedal Robot Considering Full-Range Walking Energy Efficiency. Applied Sciences-Basel, 2023, 12(19): 10.3390/app131910791 (SCI)

2022年度：

[1] Li Ming, Wang Mengdie, Fan Haiju, An Kang*, Liu Guoqi. A novel plaintext-related chaotic image encryption scheme with no additional plaintext information. Chaos, Solitons & Fractals. 2022, 158(5): 111989 (SCI)

[2] Jiao Lei, Lin Xuesong, An Kang*, Song Yaqing, Liu Yingyuan, Liu Hui, Nan Hai. Research on multi-side joint industrial parts inspection based on model fusion. Applied Artificial Intelligence, 2022, 36(1):  10.1080/08839514.2022.2055396 (SCI)

2022年以前：

[1] Liu Chengju, Yang Jing, An Kang*, Liu Ming, Chen Qijun. Robust Control of Semi-passive Biped Dynamic Locomotion based on a Discrete Control Lyapunov Function. Robotica, 2020, 38(8): 1345-1358 (SCI)

[2] Liu Chengju, Yang Jing, An Kang*, Chen Qijun. Rhythmic-Reflex Hybrid Adaptive Walking Control of Biped Robot. Journal of Intelligent & Robotic System. 2019, 94(3-4): 603-619 (SCI)

[3] An Kang, Liu Yingyuan, Li Yiran, Zhang Yunxia, Liu Chengju*. Energetic walking gaits studied by a simple actuated inverted pendulum model. Journal of Mechanical Science and Technology, 2018, 32(5):2273-2281 (SCI)

[4] An Kang, Li Chuanjiang, Fang Zuhua, Liu Chengju*. Effects of upper body parameters on biped walking efficiency studied by dynamic optimization. International Journal of Advanced Robotic Systems, 2017, 14(1):172988141668270 (SCI)
[5] An Kang, Li Chuanjiang, Fang Zuhua, Liu Chengju*. Efficient walking gait with different speed and step length: gait strategies discovered by dynamic optimization of a biped model. Journal of Mechanical Science and Technology. 2017.31(4):1909-1919 (SCI)
[6] An Kang, Wang Weidan*. Transmission Performance and Fault Analysis of a Vehicle Universal Joint. Advances in Mechanical Engineering, 2017, 9(5): 168781401770747 (SCI)
[7] 安　康, 刘成菊*. 类圆规双足被动行走模型及其稳定性. 同济大学学报(自然科学版), 2017, 45(8): 1209-1217. (EI)
[8] Liu Chengju*, Ning Jing, An Kang, Cheng Qijun. Active balance of humanoid movement based on dynamic task-prior system. International Journal of Advanced Robotic Systems, 2017, 14(3):172988141771079. (SCI)
[9] Fan Haiju, Li Ming, Liu Dong, An Kang*. Cryptanalysis of a plaintext-related chaotic RGB image encryption scheme using total plain image characteristics. Multimedia Tools & Applications, 2017:1-25 (SCI)
[10] 刘成菊, 韩俊强, 安　康*. 基于改进RRT算法的RoboCup机器人动态路径规划. 机器人, 2017, 39(1): 9-15 (EI)
[11] An Kang, Chen Qijun*. Dynamic optimization of a biped model: energetic walking gaits with different mechanical and gait parameters. Advances in Mechanical Engineering, 2015, 7(5): 1-13 (SCI)
[12] An Kang, Fang Zuhua, Li Yiran, Chen Qijun*. Internal features in basin of attraction of the simplest walking model. Journal of Mechanical Science and Technology, 2015,29(11):4913-4921 (SCI)
[13] An Kang, Chen Qijun*. A passive dynamic walking model based on knee-bend behavior: stability and adaptability for walking down steep slope. International Journal of Advanced Robotic Systems, 2013, 10, 365: 2013. (SCI)
[14] 安　康, 陈启军*. 具有屈膝行为的双足被动行走模型. 控制理论与应用, 2013, 30(3): 346-354. (EI)
[15] An Kang, Chen Qijun*. Passive dynamic model for walking down stairs. The 25th Chinese Control and Decision Conference, Guiyang, China, May 2013. (EI)
[16] An Kang, Chen Qijun*. Development of initial conditions in basin of attraction of simplest walking model. Journal of Central South University (Science and Technology). 2011, 42 (1):584-588. (EI)

授权及公开的发明专利：

[1] 一种机械臂空间动态避障感应手环及控制系统. CN201711216583.1. 2017

[2] 基于人工势场引力因子的机械臂最优避障控制方法及装置. CN201711215504.5. 2017

[3] 一种关于机械臂的时间最优轨迹规划控制方法及装置. CN201810392438.7. 2018

[4] 基于模型约束的机械臂能量最优轨迹规划控制方法及装置. CN201810389372.6. 2018

[5] 基于FD-Densenet网络的工业零件识别分拣方法、介质及系统. CN202011127248.6. 2020

[6] 一种基于轻量网络的智能仓储物件识别方法和装置. CN202110359606.4. 2021

[7] 一种基于轻量化神经网络的目标识别方法及其应用. CN202110359604.5. 2021

[8] 一种基于多采集视角信息的智能视觉图像采集系统. CN202110359584.1. 2021

[9] 一种基于多通道模型融合的深度学习物体分类方法. CN202110359603.0. 2021

[10] 一种基于模型融合的多侧面联合检测物品分类方法. CN202110359605.X. 2021

[11] 基于自适应空间特征融合的排爆机器人危险品检测方法. CN202110709675.3. 2021

[12] 适用于小体积零件与堆叠零件的目标检测方法及其应用. CN202110710319.3. 2021

[13] 一种基于区域级特征融合的位姿估计方法. CN202111414301.5. 2021

[14] 一种仿生双足机器人及其稳定步态规划方法. CN202210397792.5. 2022

[15] 一种弹簧减振底盘及短途运送机器人. CN202210847158.7. 2022

[16] 一种基于增强特征提取的小目标检测方法. CN202211515877.5. 2022

[17] 一种基于独立搜索孪生神经网络的目标跟踪方法. CN202310563525.5. 2023

[18] 一种基于置信区间的深度强化学习动作决策方法. CN202310471399.0. 2023

[19] 一种基于栅格地图自适应时间窗的多车冲突避免算法. CN202310767075.1. 2023

[20] 一种基于少数障碍侧与转向代价相融合的路径规划算法. CN202310767060.5. 2023

[21] 基于注意力特征金字塔机制的小样本钢材缺陷检测方法. CN202310831199.1. 2023

[22] 一种改进的示教轨迹学习方法及避障机器人. CN202311681833.4. 2023

[23] 一种密集仓储立库的四向穿梭车精准极速停靠方法. CN202410049001.9. 2024

[24] 基于强化学习的双足机器人多模态自适性步生成方法. CN202410617290.8. 2024

[25] 一种基于全局像素特征融合的物体位姿估计方法. CN202410624984.4. 2024

[26] 一种机器人行走的上半身动态稳定方法. CN202410624980.6. 2024

[27] 一种基于高级特征聚合机制的灵活抓取姿势估计方法. CN202410596665.7. 2024

[28] 一种机器人逆动力学模型的建模方法. CN202410569502.X. 2024

[29] 一种低矮障碍物检测方法. CN202410603694.1. 2024

课程教学：

《机器人技术》，上海市级高校重点课程，跨学科平台课程，2016-2026

《具身智能实践》，校企协同共建课程（智元机器人），2025-2026

社会兼职：

中国自动化学会具身智能专委会委员；

中国自动化学会智能自动化专委会委员；

中国人工智能学会智能机器人专委会委员；

国际国内SCI/EI期刊（包括IEEE Robotics and Automation Letters、自动化学报等）以及机器人顶级学术会议（ICRA、IROS等）的审稿专家。

荣誉奖励：

上海工匠，2025

申教名匠，2025

上海市科技进步二等奖（排名1），2024；

上海市技术发明一等奖（排名3），2020；

上海市高价值专利运营大赛20强，2023；

入选江苏省科技副总项目，2020；

入选助推计划-高校成果转化专项，2019；

连续被评为校本科优秀毕业论文指导教师，2017-2020；

上海师范大学记大功表彰，2019；

上海师范大学优秀教师，2019；

中共党员先锋岗，2018。

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