陈首彦 博士、副教授、硕士生导师

研究领域：水下、轮足、协作等机器人建模、控制、感知及交互

办公地点：创新大楼A座403

电子邮箱：maxcsy@gzhu.edu.cn

个人简介：

陈首彦，研究方向主要包括协作、轮足、水下机器人动力学与控制、多模态感知等内容。2017年博士毕业于华南理工大学，目前发表论文30余篇，授权中国专利10余项，参与撰写机器人本科生教材1部。先后主持和主研国家级科研项目5项，省部级科研、教改项目6项，企业横向2项目（广汽轮腿式人形机器人）。现为IEEE Transaction on Mechatronics等杂志审稿人。指导学生获得电赛、工训、创新训练等参加学科竞赛获得省级以上奖励10余项。

目前招收机械、电子信息硕士研究生。

学习及工作经历:

◆2022–至今  广州大学 机械与电气工程学院 副教授

◆2018–2022  广州大学 机械与电气工程学院 讲师、副教授

◆2013-2017   华南理工大学 机械设计及理论 博士

教授课程:

机器人学、智能控制、数字图像处理、批判性思维等

科研服务:

近年主持和参与的研究项目

1.国家自然科学基金委员会,面上项目，水下机器人动力学建模与控制，2026-2029，主持 

2.国家自然科学基金委员会,青年科学基金项目, 非结构化环境下柔性机器人随机碰撞动力，2020-2022，主持 

3.国家自然科学基金,面上项目, 介电高弹体驱动空间软体攀爬机器人动力学建模与优化设计, 2022-2025, 参与

4.广汽研究院GOMATE遥操作系统研发项目，2024-2026，主持

5.广州市科技项目:多模态特征识别系统研究，结题，主持

6.项目导向的多课程联动机器人工程专业，结题，主持 

7.参与国家04专项一项，广东省科技项目四项，广州市科技项目一项，广东省教学项目一项。

相关论文

1)Shouyan Chen, Weitian He, Zhijia Zhao, Yun Feng, Zhijie Liu, Keum-Shik Hong, Adaptive Control of a Flexible Manipulator with Unknown Hysteresis and Intermittent Actuator, IEEE-CAA Journal of Automatica Sinica, 2025, 12(1): 148-158

2)Shouyan Chen; Dachang Zhu; Zhijia Zhao; Chunliang Zhang; Han-Xiong Li ; Adaptive Robust C ontrol for a Spatial Flexible Timoshenko Manipulator Subject to Input Dead-Zone, IEEE Transaction s on Systems, Man, and Cybernetics, 2022

3)Shouyan Chen, Mingyan Zhang, Zhijia Zhao, Xinqi Sun, Tao Zou, The Impact of Attention Mechanisms on Speech Emotion Recognition, Sensors, 2021(21)

4)Shouyan Chen, Xinqi Sun, Zhijia Zhao, Meng Xiao, Tao Zou, An online human–robot collaborative grinding state recognition approach based on contact dynamics and LSTM, Frontiers in Neurorobotics, 2022, 16: 1-11

5)Shouyan Chen; Tie Zhang; Force control approaches research for robotic machining based on particle swarm optimization and adaptive iteration algorithms, Industrial Robot: An International Journal, 2018

6)Shouyan Chen; Tie Zhang; Yanbiao Zou; Meng Xiao ; Model Predictive Control of Robotic Grinding based on Deep Belief  Network, Complexity, 2019

7)Wang, Xiaowei; Zhang, Baoshan; Chen, Shouyan; Wang, Limin; Zhao, Zhijia; Liu, Zhijie; Hong, Keum-Shik ; Adaptive Quantized Fault-Tolerant Control for a Riser-Vessel System With Unknown Control Direction and Input Saturation, IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICSSYSTEMS, 2024, 55(2): 886-897

8)Zhao Zhijia, Xu Rourou, Chen Shouyan, Liu Zhijie, Zhou Xuefeng, Li, Han-Xiong, Adaptive Event-Triggered Control for Flexible Manipulators With Input Backlash and Prescribed Performance, IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2025, 55(9): 6073-6084.

9)Renyi Zhou, Yuanchong Li, Aimin Zhang, Tie Zhang, Yisheng Guan, Zhijia Zhao, Shouyan Chen, An PSO-ML-LSTM based IMU State Estimation Approach for Manipulator Teleoperation, 2025.

10)Zhang Aimin, Zhou Renyi, Zhang Tie, Zheng Jingfu, Chen Shouyan, Balance Control Method for Bipedal Wheel-Legged Robots Based on Friction Feedforward Linear Quadratic Regulator, SENSORS, 2025, 25(4)

11)Liu Jie, Pang Zufeng, Li Zhiyong, Wen Guilin, Su Zhoucheng, He Junfeng,  Liu Kaiyue, Jiang Dezheng, Li Zenan, Chen Shouyan, An origami-wheeled robot with variable width and enhanced sand walking versatility, THIN-WALLED STRUCTURES, 2025, 206(A)

12)Xiao Meng, Zhang Xuefei, Zhang Tie, Chen Shouyan, Zou Yanbiao, Wu Wen, A study on robot force control based on the GMM/GMR algorithm fusing different compensation strategies, FRONTIERS IN NEUROROBOTICS, 2024, 18

13)Chen Shouyan, Xiao Hang, Qiu Liming, Bi Qilin, Chen Xiaoqun, Robotic Flexible Collision Detection Based on Second-Order Sliding-Mode Momentum Observer, 2024 10TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING, CONTROL AND ROBOTICS, EECR,  Guangzhou, 2024, 1-7

14)Chen Shouyan, Lu Sifan, Wang Can, Chen Xiaoqun, Neural Network-Based Kinetic Parameter Identification for a Wheel-legged Robot, 2024 10TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING, CONTROL AND ROBOTICS, EECR,  Guangzhou, 2024, 86-91

15)Chen Shouyan, Wang Mingju, Guan Yuxuan, Cheng Jiahao, Zhao Diwei, Wu Zitian, Liu Zhijie, Zhao Zhijia, Transformer-Based Soft Robot Constrained Position Recognition with Multimodal Sensing, 2024 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTICS AND AUTOMATIC CONTROL, IRAC, Guangzhou, 2024, 105-110

16)Chen Shouyan, Lin Yukai, Zhao Zhijia, He Shude, Dong Chao, A global-local path planning for mobile robot with real-time unknown obstacle avoidance, 39TH YOUTH ACADEMIC ANNUAL CONFERENCE OF CHINESE ASSOCIATION OF AUTOMATION, YAC, Dalian, 2024, 51-56,

17)Xiao Meng, Zhang Tie, Zou Yanbiao, Chen Shouyan, Wu Wen, Research on Robot Massage Force Control Based on Residual Reinforcement Learning, IEEE ACCESS, 2024, 12:18270-18279.

18)Zhao Zhijia, Zhang Jian, Chen Shouyan, He Wei), Hong Keum-Shik,  Neural-Network-Based Adaptive Finite-Time Control for a Two-Degree-of-Freedom Helicopter System With an Event-Triggering Mechanism, IEEE-CAA JOURNAL OF AUTOMATICA SINICA, 2023, 10(8):1754-1765.

19)Zhu Houyao, Chen Shouyan, Shen Teng, Wang Ruikun, Liu Jie, CFRP Origami Metamaterial with Tunable Buckling Loads: A Numerical Study, MATERIALS, 2021, 14(4)

20)Xiao Meng, Zhang Tie, Zou Yanbiao, Chen Shouyan, Wu Wen,Robotic constant force grinding control based on grinding model and iterative algorithm, INDUSTRIAL ROBOT, 2021, 48(2): 270-279.

21)Chen Shouyan, Zhang Tie, Force control approaches research for robotic machining based on particle swarm optimization and adaptive iteration algorithms, INDUSTRIAL ROBOT, 2018, 45(1): 141-151 22)

22)Chen Shouyan, Zhang Tie, Shao Ming, Interpolation optimization for robotic grinding with velocity constraints, ADVANCES IN MECHANICAL ENGINEERING, 2018, 9(12)

23)陈首彦;张铁; 一种自适应的机器人曲面切削力控制算法,华南理工大学学报(自然科学版), 2017. 3 , 45(02): 59-65

（2） 专利

1)陈首彦; 张健; 黄俊峰; 王蕴婷; 赵志甲; 机器人在斜坡行走的步态规划方法、装置、设备及介质, 2022-02-18, 中国, ZL2020 1 1518724.7

2)陈首彦; 刘冬梅; 孙欣琪; 张健; 杨晓芬; 赵志甲; 朱大昌; 基于多模态特征融合的情感识别方法、 系统、装置及介质, 2024-01-12, 中国, ZL 2021 1 1090685.X

3）陈首彦;张铭焰;杨晓芬;赵志甲;朱大昌; 一种自闭症语音特征辅助识别机器人及方法，2023-06-20，中国,ZL 2020 1 1016520.3

4）陈首彦;邱黎明;肖航;孙欣琪;朱厚耀;郭莹莹; 基于人机协作动力学和卷积神经网络的实时状态分类方法，2025-06-03，中国,ZL 2022 1 0937292.6

5)陈首彦;张铁; 一种针对解决形变问题的机器人加工系统, 2017-06-06, 中国, ZL 2016 2 1186284. 9

6)陈首彦;张铁; 针对解决形变问题的机器人磨削系统及其轨迹规划方法, 2019-8-20, 中国, ZL20161 0961614.5

7)陈首彦;张铁; 一种针对解决形变问题的机器人磨削系统, 2017-6-6, 中国, ZL201621186284.9

8)陈首彦;张铁; 针对机器人形变问题的机器人曲面切削力控制方法, 2019-7-16, 中国, ZL201610961 620.0

9)张铁;胡广;陈首彦; 基于模糊自适应力控制的恒力打磨装置及方法, 2017-6-20, 中国, ZL 2015 1 0161357.2

10)邵明;陈首彦;张铁; 基于刚度矩阵的直角坐标机器人的打磨方法, 2017-12-19, 中国, ZL 2015 1 0153236.3

11)张铁;肖蒙;邹焱飚;陈首彦; 一种基于打磨模型和迭代算法的机器人恒力打磨系统, 2020-7-29, 中国, CN202010746586.1