武建昫
博士 、副教授
基本信息
| 办公电话： | 电子邮件： wujx@bjtu.edu.cn |
| 通讯地址： | 邮编： |
教育背景
2008年09月至2012年06月 太原科技大学 机械设计制造及其自动化 学士
2012年09月至2019年03月 北京交通大学 机械工程 博士
2019年10月至2021年10月 清华大学 机械系统动力学 博士后
研究方向
- 机器人与智能制造技术
- 载运工具运用工程（同等学力申硕）
- 智能装备技术与工程
- 机器人与智能机械设计
- 机器人技术与工程
招生专业
- 机械工程硕士
- 机械工程博士
- 载运工具运用工程硕士
科研项目
1. 科技委国家级：高适应无人系统设计与通行策略研究，2020-2021，主持2. 交通战备科研项目国家级：山地重载多足无人平台应用论证研究，2022-2022，主持
3. 自然科学横向项目：足式机器人弹性腿机构创新设计，2022-2023，主持
4. 校科技基金人才基金：整体闭链平台越障行驶理论研究，2022-2024，主持
5. 科技委国家级：高机动可重构无人平台设计与研究，2022-2024，主持
6. 国家自然科学基金"青年基金"：整体闭链步行连杆机构的一体化重构研究，2023-2025，主持
7. 装备预研教育部联合基金国家级：可重构重载快速多智能体设计理论与技术研究，2024-2026，主持
8. 中央高校基本科研业务费：翼腿爪一体化察打机器人机构设计与技术研究，2024-2027，主持
9. 知识产权许可项目：一种越障载运机器人等三项专利许可，2024-2027，主持
10.知识产权许可项目：一种自适应多足步行平台等三项专利许可，2024-2027，主持
11.国家自然科学基金"面上项目"：面向环境高适应性重载任务的变体步行连杆创成设计与聚合重构机理研究，2026-2029，主持
教学工作
本科生课程 机械原理
研究生课程 高等机构学，机器人移动系统创新设计与实例
论文/期刊
1.Kunting Zhang, Yunpeng Yin, Jianxu Wu, Lei Jiang, Yan-an Yao. Gravity-Compensated Model Predictive Control and Whole-Body Optimization for Humanoid Locomotion. ASME. Journal of Mechanisms and Robotics, 2026, 18(3): 031007.
2.Ziming Zhao, Yezhuo Li*, Jian S Dai, Jianxu Wu, Yan-an Yao, Peng Jin, Zibin Wang. Design and Analysis Method of a Cubical Deformable Mobile Mechanism Based on URU Chains. Mechanism and Machine Theory, 2026, 220: 106362.
3.Kunting Zhang, Jianxu Wu*, Lihao Jia, and Yan-an Yao. Optimized kinematic parameter identification and torque compensation methods for bipedal robots. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2025: 09544062251389473.
4.Meng Zhao, Zoulang Qin, Wenxuan Cheng, Ruiming Li, Hui Yang, Yezhuo Li, Jianxu Wu*, Design and reinforcement learning-based locomotion gait planning for an 8-bar single-loop transformable robot, Mechanism and Machine Theory, 2025, 219: 106304.
5.Hong Liu, Hui Yang, Liang Zeng, Jianxu Wu*, Yan-an Yao, Yezhuo Li. Design and Implementation of a Closed-Chain Flapping Wing Mechanism for Bionic Compound Motion with Active Torsion. ASME. Journal of Mechanisms and Robotics, 2025, 17(12): 125001.
6.Hui Yang, Junzhuo Zhou, Jianxu Wu*, Yan-an Yao. Research on High-Smooth Walking and Adaptive Obstacle-Crossing of Closed-Chain Multi-Legged Robot. Mechanism and Machine Theory, 2025, 214: 106123.
7.Hui Yang, Tianhao Wang, Hong Liu, Jianxu Wu*, Liang Zeng, Yan-an Yao. Design and Mode Analysis of Reconfigurable Spatial Closed-Chain Wheel-Leg Robot. Frontiers of Mechanical Engineering, 2025.
8.Hui Yang, Hong Liu, Liang Zeng, Jianxu Wu*, Yan-an Yao. Design and analysis of a novel octopod platform with spatial 8R reconfigurable trunk. Mechanism and Machine Theory, 2025, 205: 105859.
9.赵顺卿, 翁铭泽, 武建昫*, 姚燕安. 一体化重构闭链腿机构设计与越障性能研究. 中国机械工程, 2025, 36(1).
10.Meng Zhao, Qiang Ruan, Jianxu Wu*, Hong Liu, Yanan Yao. Design and Autonomous Obstacle-crossing Strategy of a Reconfigurable Closed-chain Legged Robot. ASME. Journal of Mechanisms and Robotics, 2025: 1-32.
11.Jianxu Wu*, Liang Zeng, Qiang Ruan, Jianduo Guo, Hui Yang, Liping Jing, Yan-an Yao. Reconfiguration and compensation design method for single-DoF closed-chain leg mechanism. Mechanism and Machine Theory, 2024, 204: 105834.
12.Hui Yang, Hong Liu, Liang Zeng, Jianxu Wu*, Yan-an Yao. Reconfigurable Design and Analysis of a Walking Platform with Multi-Modal Trunk. International Conference on Mechanism and Machine Science. Singapore: Springer Nature Singapore. 2024.
13.杜国锋, 赵萌, 武建昫, 张东*. 基于视觉的闭链多足机器人自主运动控制方法. 机械工程学报, 2024, 60(19): 62-70.
14.Hongzhe Sun , Chaoran Wei, Yan-an Yao, Jianxu Wu*. Analysis and experiment of a bioinspired multimode octopod robot. Chinese Journal of Mechanical Engineering, 2023, 36(1): 142.
15.Ziming Zhao, Yezhuo Li*, Jianxu Wu, Yan-an Yao. Envelop-Climbing Locomotion Planning and Capability Analysis of a Deformable Tetrahedron Rolling Robot. IEEE Robotics and Automation Letters, 2023.
16.Long Guo, Ying Zhang*, Jianxu Wu, Yan-an Yao. Combination of different trajectory description approaches improves the trajectory synthesis performance: Validation by a coarse-to-fine method. Mechanism and Machine Theory, 2023, 187: 105370.
17.Qianqian Zhang, Yezhuo Li*, Jianxu Wu*, Yan-an Yao. Design and analysis of a hexagon rolling mechanism with a center-arranged actuator. Mechanism and Machine Theory, 2022, 174: 104910.
18.Chaoran Wei, Hongzhe Sun, Ran Liu, Yan-an Yao*, Jianxu Wu*, Yang Liu, Yingxiang Lu. Analysis and experiment of thrust-propelled closed-chain legged platform with passive locomotion ability. Mechanism and Machine Theory, 2022, 167: 104506.
19.Hui Yang, Jianxu Wu*, Mingze Weng, Yan-an Yao. Design and mode analysis of reconfigurable spatial closed-chain wheel-Leg mechanism. International Conference on Mechanism and Machine Science. Singapore: Springer Nature Singapore, 2022: 815-826.
20.Chaoran Wei, Jianxu Wu, Jing Sun, Hongzhe Sun, Yan-an Yao*, Qiang Ruan*. Reconfigurable design of a passive locomotion closed-chain multi-legged platform for terrain adaptability. Mechanism and Machine Theory, 2022, 174: 104936.
21.Jianxu Wu, Long Guo, Shaoze Yan*, Yezhuo Li*, Yan-an Yao. Design and performance analysis of a novel closed-chain elastic-bionic leg with one actuated degree of freedom. Mechanism and Machine Theory, 2021, 165: 104444.
22.Qiang Ruan, Jianxu Wu*, Yan-an Yao*. Design and Analysis of a Multi-Legged Robot with Pitch Adjustive Units. Chinese Journal of Mechanical Engineering, 2021, 34(1): 1-17.
23.Chaoran Wei, Jianxu Wu*, Yan-an Yao. Design of vector-thrust propelled legged platform with reconfigurable closed-chain leg mechanisms. Proceedings of the 5th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots. ReMAR2021, 2021: 281.
24.王森, 姚燕安, 武建昫*. 一种新型可调整闭链多足机器人的设计与分析. 机械工程学报, 2020, 56(19): 191-199.
25.Chaoran Wei, Yanan Yao, Jianxu Wu*, Ran Liu. Development and Analysis of a Closed-Chain Wheel-Leg Mobile Platform. Chinese Journal of Mechanical Engineering, 2020, 33(1): 1-13.
26.Qiang Ruan, Yan-an Yao*, Jianxu Wu. Analysis and experiments on a novel smoothly moving low-DoF multi-legged robot. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2020, 234(1): 302-317.
27.阮强, 姚燕安*, 武建昫. 闭链多足移动系统的足地接触轮廓曲线设计方法. 机械工程学报, 2020, 56(17): 29-38.
28.Yanling Hao, Yaobin Tian*, Jianxu Wu, Yezhuo Li, Yanan Yao. Design and locomotion analysis of two kinds of rolling expandable mobile linkages with a single degree of freedom, Frontiers of Mechanical Engineering, 2020, 15(3): 365-373.
29.Jianxu Wu, Yan-an Yao*, Yibin Li, Sen Wang and Qiang Ruan. Design and analysis of a sixteen-legged vehicle with reconfigurable close-chain leg mechanisms. ASME. Journal of Mechanisms and Robotics, 2019, 11(5).
30.何妍颖, 李晔卓*, 武建昫, 刘兴杰, 姚燕安. 多模式两轮机器人的设计与运动分析. 机械工程学报, 2019,55(23):83-92.
31.姚燕安*, 徐小景, 武建昫. 基于弹簧负载倒立摆模型闭链弹性放生腿的设计. 机械设计与研究, 2019,35(04):36-42.
32.Jianxu Wu, Yan-an Yao*. Design and analysis of a novel walking vehicle based on leg mechanism with variable topologies. Mechanism and Machine Theory, 2018, 128: 663-681.
33.Jianxu Wu, Hui Yang, Ruiming Li, Qiang Ruan*, Shaoze Yan*, Yan-an Yao. Design and analysis of a novel octopod platform with a reconfigurable trunk. Mechanism and Machine Theory, 156: 104134.
34.Jianxu Wu, Yan-an Yao*. Design and analysis of a novel multi-legged horse-riding simulation vehicle for equine-assisted therapy. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2018, 232(16): 2912-2925.
35.Jianxu Wu, Yan-an Yao*, Qiang Ruan and Xiaoping Liu. Design and optimization of a dual quadruped vehicle based on whole close-chain mechanism. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2017, 231(19): 3601-3613.
36.Jianxu Wu, Yan-an Yao* and Meili Zhai. A novel skid-steering walking vehicle with dual single-driven quadruped mechanism. Mechanisms, Transmissions and Applications, August, 2015: 231-238.
37.Wan Ding, Jianxu Wu, Yan-an Yao*. Three-dimensional construction and omni-directional rolling analysis of a novel frame-like lattice modular robot. Chinese Journal of Mechanical Engineering, 2015, 28(4): 691-701.
38.QiangRuan, Jianxu Wu, Yan-an Yao*. Fluctuation compensation of a multi-legged walking platform using cam mechanism. IFToMM World Congress, Taiwan. 2015: 294-298.
专利
国防专利五项，授权国家发明专利五十余项，实用新型专利两项
指导获奖
2022年至今：校级优秀本科毕业设计
校级优秀硕士学位论文指导教师
2024 IFToMM国际会议优秀报告奖
第十八届中国智能机器人大会优秀壁报
中国大学生智能装备创新设计大赛-国家级一等奖（2项）
首都大学生课外学术科技作品竞赛-北京市特等奖
全国大学生创新创业训练计划-国家级（2项），北京市级（5项）
北京市大学生机械创新设计大赛-北京市级（2项）
中国研究生机器人创新设计大赛-国家级（8项）
中国研究生未来飞行器创新大赛决赛-国家级（2项）
中国人民解放军空军“航空创意挑战赛”下一代空中作战系统-国家级
中国机器人及人工智能大赛-国家级（2项）
中国国际大学生创新大赛北京赛区一等奖
获奖与荣誉
2017年陆军装备部“跨越险阻”地面无人系统挑战赛：初赛第一名，决赛第二名，排12021年入选“中国科协青年人才托举工程”，排1
2022年机械工业科学技术奖技术发明二等奖，排6
2023年教育部技术发明一等奖，排2
2025年机械工业科学技术奖技术发明二等奖，排5
社会兼职
中国仿真学会机器人系统仿真专委会委员、caa具身智能专业委员会委员、CICC具身智能专业委员会委员、中国物流学会特约研究员、国研评审专家
《北京交通大学学报》, 《Robot Learning》, 《Journal of Bionic Engineering》,《系统仿真学报》等青年编委
期刊审稿人：《机械工程学报》,《机器人》,《中国机械工程》, Mech. Mach. Theory, J. FIELD. ROBOT., J. MECH. ROBOT., J. MECH. DESIGN, P. I. MECH. ENG. C-J MEC.，ROBOTICA，Acta. Astronautica., MECH. SCI.，STROJ. VESTN-J MECH. E.，ROBOMECH，MECCANICA，IJOCTA，BSMSE，ROBOT. AUTON. SYST.等期刊审稿人
《北京交通大学学报》, 《Robot Learning》, 《Journal of Bionic Engineering》,《系统仿真学报》等青年编委
期刊审稿人：《机械工程学报》,《机器人》,《中国机械工程》, Mech. Mach. Theory, J. FIELD. ROBOT., J. MECH. ROBOT., J. MECH. DESIGN, P. I. MECH. ENG. C-J MEC.，ROBOTICA，Acta. Astronautica., MECH. SCI.，STROJ. VESTN-J MECH. E.，ROBOMECH，MECCANICA，IJOCTA，BSMSE，ROBOT. AUTON. SYST.等期刊审稿人
主要研究课题
新概念机器人系统创成理论；
机器人结构-功能-性能一体化设计理论；
多智能体机动-感知-聚合理论；
多模式跨域仿生机器人研究；
高机动腿足无人装备应用研究。