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Dr. Kai Xu (graduated August 2009)

Research Interests:

  • Flexible Robots and Humanoid Robots
  • Robotics and Control
  • Mechantronics

Current Projects:

  • A system for Minimally Invasive Surgery of the Throat and Upper Airways

Former Research Contributions:

  • Gait generation & compensation algorithms for the humanoid robot THBIP-I
  • Full scheme design and fundamental verification experiments of a medium-scale automated dentifrice flexible production line for the P&G CORP

Education:

  • 2004 to present: Ph.D. Degree (expected), Department of Mechanical Engineering, Columbia University, U.S.A
  • 2001 to 2004: M.S. Degree, In the Speciality of Machine Design, Manufacture and Automation in the Department of Precision Instruments and Mechanology, Graduate School of Tsinghua University, P.R. China
  • 1997 to 2001: B.E. Degree, In the Speciality of Machine Design, Manufacture and Automation in the Department of Precision Instruments and Mechanology, Tsinghua University, P.R. China
  • 1992 to 1997: The Jiujiang No.1 Middle School in Jiangxi Province, P.R. China

Publications:

  1. Xu, K., Simaan, N. “A Closed-Form Solution for the Shape and Statics of Flexible Continuum Robots with Actuation Redundancy”, Submitted to ASME Journal of Mechanical Design, 2008.
  2. Simaan, N., Xu, K., Wei, W., Kapoor, A., Kazanzides, P., Flint, P., Taylor, R., “Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat,” accepted for publication in the International Journal of Robotics Research (IJRR) Special Issue on Medical Robotics, Desai, J. & Ayache, N., Eds., 2009.
  3. Simaan, N., Xu, K., Wei, W., Kapoor, A., Kazanzides, P., Flint, P., Taylor, R., “Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat,” accepted for publication in the International Journal of Robotics Research (IJRR) Special Issue on Medical Robotics, Desai, J. & Ayache, N., Eds., 2009.
  4. Xu, K., Simaan, N., “An Investigation of the Intrinsic Force Sensing Capabilities of Continuum Robots,” IEEE Transactions on Robotics, Vol. 24, No. 3, pp. 576-587, 2008.
  5. Xu, K., Simaan, N.  “A Closed-Form Solution for the Shape and Statics of Flexible Continuum Robots with Actuation Redundancy”, Submitted to ASME Journal of Mechanical Design, 2008.
  6. Xu, K., Simaan, N., “An Investigation of the Intrinsic Force Sensing Capabilities of Continuum Robots,” IEEE Transactions on Robotics, Vol. 24, No. 3, pp. 576-587, 2008.
  7. Kapoor, A., Xu, K., Wei, W., Simaan, N., Taylor, R., “Telemanipulation of Snake-Like Robots for Minimally Invasive Surgery of the upper Airway”, MICCAI’2006 (9th International Conference on Medical Image Computing and Computer-Assisted Intervention), presented at the workshop on medical robotics, 2006.
  8. Zhang, J., Xu, K., Simaan, N., “A Pilot Study of Robot-Assisted Cochlear Implant Surgery Using Steerable Electrode Arrays,” MICCAI’ 2006 International Conference on Medical Image Computing and Computer-Assisted Intervention, Copenhagen, Sweden, pp. 33-40, 2006.
  9. Wei, W., Xu, K., Simaan, N. “A Compact Two-Armed Slave Manipulator for Minimally Invasive Surgery of the Throat,” The first IEEE/RAS-EMB International Conference on Biomedical Robotics and Biomechatronics (BIOROB’2006), Pisa, Italy, pp. 287-292, 2006.
  10. XU Kai, CHEN Ken, LIU Li, “Fast Walking Gait Planning Algorithm for Humanoid Robots Based on Optimization of the Main Support Leg”, Accepted by Robotics, 2004
  11. XU Kai, CHEN Ken, LIU Li, “Gait Compensation Algorithm for Humanoid Robots Based on Universal Moment-Force Sensors and Computed Joints Torques”, Accepted by Robotics, 2004
  12. Jiandong Zhao, Kai Xu, Chenglong Fu, Xiangdong Yang, Ken Chen, “The Self-regulating Nonlinear Control of Ankle Roll Joint of Humanoid Robot”, Robotics Vol.26 No.2 2004
  13. YANG Dongchao, LIU Li, XU Kai, WANG Jinsong, CHEN Ken, “Kinematics Analysis of the Humanoid robot”, Chinese Journal of Mechanical Engineering, Vol.39 Sept. 2003
  14. OU Yangxing, CHEN ken, XU Kai, WANG Jingsong, “Analysis of Elastic Deformation Effect on Gait Planning of Humanoid Robot”, Machine Tool & Hydraulics, Vol.185, May, 2003
  15. ZHAO Jiandong, SHAO Lijun, XU Kai, LIU Li, CHEN Ken, “Research on the Servo Control System of the Humanoid Robot Joints Based on CAN Bus”, Robotics, Vol.24 No.5 Sept. 2002
  16. YANG Dongchao, XU Kai, LIU Li, CHEN Ken, “Virtual Simulations for Humanoid Robots in the 3DS Max”, Machinery Design and Manufacture, No.4 Aug. 2002
  17. ZHAO Mingguo, LIU Li, WANG Jingsong, CHEN Ken, ZHAO Jiandong, XU Kai, “Control System Design of THBIP-I Humanoid Robot”, Proceedings - IEEE International Conference on Robotics and Automation v3 May 11-15 2002
  18. Kai Xu, Ken Chen, Jinsong Wang, Li Liu, Dongchao Yang, Jiandong Zhao, “A New Method of Gait Generation for a Biped Walking Robot”, Proceeding of Second IEEE-RAS International Conference on Humanoid Robots, Tokyo, Japan, Nov. 22-24 2001
  19. Li Liu, Jinsong Wang, Ken Chen, Dongchao Yang, Kai Xu, “A New Method of Three-dimensional Walking Trajectory Planning for Biped Robot”, Proceeding of CLAWAR2001 (4th International Conference on Climbing and Walking Robot), Karlsruhe, Germany, pp797-804, 24 -26 Sep.2001

Honors

  • 2004’ Presidential Distinguished Fellowship, Fu Foundation School of Engineering and Applied Science, Columbia University
  • 2004’ Excellent Master Thesis Award, Tsinghua University
  • 2002’ Guanghua Fellowship, Second Prize, Tsinghua University
  • 2001’ “Community Activity” Scholarship for excellent student leaders, Tsinghua University
  • 2000’ Guanghua Fellowship, Second Prize, Tsinghua University
  • 1999’ IET Fellowship for Excellent College Students with remarkable community activities
  • 1998’ Second Award for the Excellent Academics Performances, Tsinghua University
  • 1997’ Second Award for the Excellent Freshmen, Tsinghua University
  • 1996’ First Prize in the National High School Mathematics Olympiad, China
  • 1996’ First Prize in the National High School Physics Olympiad, China
  • 1996’ Second Prize in the National High School Chemistry Olympiad, China

Community Activities

  • Nov 2004 to Present: Co-chair of the Division of Recreation in Columbia University Chinese Student and Scholar Association
  • Sep 2001 to Feb 2003: Chief of the Department of Culture in the Tsinghua Graduate Students Union
  • Feb 2001 to Jul. 2001: Vice Chief of the Department of Culture in the Tsinghua Graduate Students Union
  • Oct 2000 to Feb 2001: Executive member of the Department of Culture in the Tsinghua Graduate Students Union

Sep 1998 to May 1999: Vice Chief of the Department of Art and Culture in the Tsinghua Students Union; Chief of the Department of Art and Culture in the Students Union of Department of Precision Instruments and Mechanology

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