1998-2002, Department of Mechanical Engineering, Yanshan University, Ph.D
1990-1993, Department of Electrical Engineering, Yanshan University, M.E
1986-1990, Department of Electrical Engineering, Yanshan University, B.E

2005―now: Associate Professor, School of Mechanical Engineering, Shanghai Jiao Tong University
2003-2005, Associate Professor, School of mechanical Engineering, Yanshan University
1993-2003, Assistant Professor, School of mechanical Engineering, Yanshan University

2004-2005, Kochi University of Technology, Japan
2002-2003, Kochi University of Technology, Japan
1995-1996, Simon Fraser University, Canada

Parallel robot technology
Intelligent control
HILS of space docking
Multi Dimensional Vibration / Isolation system
Control of hybrid machine tool
Multi dimensional force / moment sensor
Micro-nano manipulator robot

PI：
2017-2020，Study of 5-DOF Hybrid Machining Robot for aerospace composite materials, National Key R&D Program of China
2017-2020，Research on the design of HILS of collision dynamics and compensation technology for instability in space operations, National Natural Science Foundation project (NSFC)
2012-2015，Research on the key technology of the redundant driving parallel robot for aircraft drilling, National Natural Science Foundation project (NSFC)
2012-2014，Research on key technology of teleoperation and maintenance system in cladding -- Design of terminal operation tools, International Thermonuclear Experimental Reactor (ITER)
2010-2011， Development of 25000kN servo four point press technology, National Science and Technology Major Project
2009-2010，Research on six degree of freedom force feedback device with fully decoupled structure, National Key Laboratory Open Project Fund

Co-PI:
2011-2012，National?High-tech?R&D?Program?of?China?(863?Program), Research on Key Technologies of high performance quadruped bionic robot
2008-2010，National Natural Science Foundation project (NSFC), Research on chromosome microdissection and microcloning equipment and its key technology
2006-2010，National?Program?on?Key?Basic?Research?Project?of?China?(973?Program), Measurement of multi degree of freedom operation performance and mechanism design principle for heavy-duty equipment
2006-2008，Aeronautical Science Foundation of China, Research on the technology of high performance and dexterous position marker
2001-2004，?National?High-tech?R&D?Program?of?China?(863?Program), Research on the configuration, design method and key technology of a new type parallel machine tool mechanism
1998-2000，?National?High-tech?R&D?Program?of?China?(863?Program), Research on the micro six dimensional force and moment sensor of parallel structure

1.Low-order model based divergence compensation for hardware-in-the-loop space discrete contact. Chenkun Qi, Xianchao Zhao, Feng Gao, Anye Ren, Yan Hu. Journal of Intelligent & Robotic Systems.2017, 86(1), 81-93.
2.A force compensation approach towards divergence of hardware-in-the-loop contact simulation system for damped elastic contact, Chenkun Qi, Feng Gao, Xianchao Zhao, Anye Ren, Qian Wang. IEEE Transactions on Industrial Electronics, 2017,64(4), 2933-2943.
3.Compensation of velocity divergence caused by dynamic response for hardware-in-the-loop docking simulator. Chenkun Qi, Anye Ren, Feng Gao, Xianchao Zhao, Qian Wang, Qiao Sun.IEEE/ASME Transactions on Mechatronics, 2017, 22(1), 422-432.
4.Contact stiffness identification for hardware-in-the-loop contact simulator with delay and structural compensation. Anye Ren, Chenkun Qi, Feng Gao, Xianchao Zhao, Qiao Sun. Journal of Intelligent & Robotic Systems, 2017,86(3), 325-333.
5.Hardware-in-the-loop simulation for the contact dynamic process of flying objects in space. Feng Gao, Chenkun Qi, Anye Ren, Xianchao Zhao, Rui Cao,etc.Science China Technological Science, 2016,59(8), 1167-1175.
6.Divergence compensation for hardware-in-the-loop simulation of stiffness-varying discrete contact in space. Chenkun Qi, Xianchao Zhao, Feng Gao, Anye Ren, Yan Hu. Acta Astronautica, 2016,128, 295-303.
7.Smith predictor based delay compensation for a hardware-in-the-loop docking simulator. Chenkun Qi, Feng Gao, Xianchao Zhao, Anye Ren, Qian Wang, Qiao Sun, Yan Hu, Li Qiao. Mechatronics, 2016,36, 63-76.
8.Contact stiffness and damping identification for hardware-in-the-loop contact simulator with measurement delay compensation. Chenkun Qi, Xianchao Zhao, Feng Gao, Anye Ren, Qiao Sun. Acta Astronautica. 2016,123, 171-180.
9.A neural network based distributed parameter model identification approach for micro-cantilever. Chenkun Qi, Feng Gao, Han-Xiong Li, Xianchao Zhao, Liming Deng. Proceedings of the Institution of Mechanical Engineers Part C - Journal of Mechanical Engineering Science, 2016,230(20), 3663-3676.
10. An incremental Hammerstein-like modeling approach for the decoupled creep, Chenkun Qi, Feng Gao, Han-Xiong Li, Shaoyuan Li, Xianchao Zhao, & Yi Dong. vibration and hysteresis dynamics of piezoelectric actuator. Nonlinear Dynamics. 2015,82, 2097-2118.
11. A robotic hardware-in-the-loop simulation system for flying objects contact in space. Chenkun Qi, Xianchao Zhao, Feng Gao, Anye Ren, Yan Hu. (2016). Proceedings of the 14th International Conference on Intelligent Autonomous Systems, July 3-7, 2016, Shanghai, China.
12. A delay compensation approach for hardware-in-the-loop simulation of space collision. Chenkun Qi, Feng Gao, Xianchao Zhao, Ren Anye, Wang Qian. (2016). The 35th Chinese Control Conference, July 27-29, 2016, Chengdu, China.
13. Hardware-in-the-loop simulation for contact dynamics in space. Chenkun Qi, Qian Wang, Xianchao Zhao, Feng Gao, Anye Ren. (2016). 13th IEEE International Conference on Information and Automation (IEEE ICIA 2016), July 31-August 4, 2016, Ningbo, Zhejiang, China.
14. A distributed parameter model identification approach for a micro-manipulator. Chenkun Qi, Feng Gao, Xianchao Zhao, Yi Yue. The 6th International Conference on Optimization & Control with Applications (OCA). December 11-14, 2015, Changsha, China.
15. An indirect foot force estimation approach for legged walking robot. Chenkun Qi, Feng Gao, Qiao Sun, Yilin Xu, Yang Pan, Xianbao Chen, Xianchao Zhao.The 6th International Conference on Optimization & Control with Applications (OCA). December 11-14, 2015, Changsha, China.
16. Dynamic model based ground reaction force estimation for a quadruped robot without force sensor. Chenkun Qi, Feng Gao, Xianchao Zhao, Qiao Sun, Xinghua Tian, Xianbao Chen. (2015). The 34th Chinese Control Conference, July 28-30, 2015, Hangzhou, China.
17. Additive cascaded model identification of linear and nonlinear dynamics of piezoelectric actuator. Chenkun Qi, Feng Gao, Xianchao Zhao, Yi Yue, Yi Dong. (2015). The 34th Chinese Control Conference, July 28-30, 2015, Hangzhou, China.
18. Grey-box distributed parameter modeling approach for a flexible manipulator with nonlinear dynamics. Chenkun Qi, Feng Gao, Xianchao Zhao, Yi Yue. (2015).The 17th IFAC Symposium on System Identification (SYSID 2015), Beijing, China, Oct 19-21, 2015.
19. Foot force sensing for legged walking robot using motor current. Chenkun Qi, Feng Gao, Qiao Sun, Xianbao Chen, Yilin, Xu, Xianchao, Zhao.2015 IEEE International Conference on Robotics and Biomimetics, December 6-9, 2015, Zhuhai, China.
20. Dynamic Formulation and Performance Evaluation of the 6-d.o.f. Parallel Structure Seismic Simulator. Yongjie Zhao, Feng Gao, Xianchao Zhao, Nengsheng Bao，Advanced Robotics 23(12-13): 1617-1640 (2009)
21. WORKSPACE OF A 3-RRPS PARALLEL ROBOT FOR A GIVEN ORIENTATION. Xianchao Zhao, Jialun Yang, Zhenlin Jin, Chenkun Qi, Jing Wang, Feng Gao. The First IFToMM Asian Conference on Mechanism and Machine Science October 21 - 25, 2010, Taipei, Taiwan
22. A 6-DOF heavy-load parallel manipulator with RFTA and its application. Jianzheng Zhang, Hongnian Yu, Feng Gao, Dan Zhang, Xianchao Zhao, Cunxiang Ma, ICRA 2011: 470-475
23. Type synthesis of parallel mechanisms having the first class GF sets and one-dimensional rotation. Jialun Yang, Feng Gao, Qiaode Jeffrey Ge, Xianchao Zhao, Weizhong Guo, Zhenlin Jin. Robotica 29(6): 895-902 (2011)
24. Key issues in studying parallel manipulators, Jianzheng Zhang, Hongnian Yu, Feng Gao and Xianchao Zhao. IEEE , Proceedings of the 2011 International Conference on Advanced Mechatronic Systems,234-244 1 Aug 2011
25. Modeling and experiment of a planar 3-DOF parallel micromanipulator. Yi Yue, Feng Gao, Zhenlin Jin,Xianchao Zhao. Robotica ,1-14(2011)
26. Dynamic characteristic of the scanning system used in online measurement systems for large hot forgings, Zhisong Tian, Feng Gao,Yong Zhang ,Xianchao Zhao, Transactions of the Institute of Measurement and Control, 33(2), 246-259 ,2011
27. Hammerstein Modeling with Structure Identification for Multi-input Multi-output Nonlinear Industrial Processes , Qi, Chenkun,Li Han-Xiong ,Zhao, Xianchao , Li, Shaoyuan,Gao, Feng. Industrial and Engineering Chemistry Research, Vol: 50, Issue: 19, 2011, 11153-11170
28. Transient flow analysis in reactor coolant pump systems during flow coastdown period. Gao Hong, Gao, Feng , Zhao Xianchao, Chen Jie ,Cao, Xuewu. Nuclear Engineering and Design, 241(2) 2011, 509-515
29. Time/Space-Separation-Based SVM Modeling for Nonlinear Distributed Parameter Processes, Qi Chenkun, Li Han-Xiong , Zhang Xianxia, Zhao, Xianchao, Li, Shaoyuan, Gao, Feng.Industrial and Engineering Chemistry Research, 50(1) 2011 332-341
30. Dynamics analysis and characteristics of the 8-PSS flexible redundant parallel manipulator, Yongjie Zhao, Feng Gao, Xingjian Dong, Xianchao Zhao, Robotics and Computer-Integrated Manufacturing, 27(5), 2011, 918-928
31. Relationship among input-force, payload, stiffness and displacement of a 3-DOF perpendicular parallel micro-manipulator Yue Yi, Gao Feng, Zhao Xianchao, Jeffrey Ge, Q. Mechanism and Machine Theory,45(5), 2010, 756-771
32. Elastodynamic characteristics comparison of the 8-PSS redundant parallel manipulator and its non-redundant counterpart of the 6-PSS parallel manipulator Zhao Yongjie , Gao Feng , Dong Xingjian , Zhao Xianchao. Mechanism and Machine Theory, 45(2), 2010:291-303
33. Development of 6-dof parallel seismic simulator with novel redundant actuation, Yongjie Zhao, Feng Gao, Weimin Li, Wei Liu, Xianchao Zhao, Mechatronics, 19( 3), 422-427 (2009)
34. Dimension measurement of hot large forgings with a novel time-of-flight System.Tian, Z., Gao, F., Jin, Z. and Zhao, X. The International Journal of Advanced Manufacturing Technology 44(2): 125–132, 2009

C++ programming. Teaching Target: Undergraduate students, Teaching Hours: 48, Credits: 3
Open GL programming. Teaching Target: Undergraduate students, Teaching Hours: 32, Credits: 2

? Six degrees of freedom parallel decoupling structure micro-motion robot, patent number: ZL99121020.4
? Ten two-dimensional force/acceleration robot wrist sensor, patent number: ZL02122567.2
? Six degrees of freedom virtual axis machine, patent number: ZL99122349.7
? Parallel decoupling structure six-dimensional force and torque sensor, patent number: ZL99119320.2
? A new parallel structure 6-dimensional controller, patent number: ZL01122211.5
? Twelve motors drive mechanical multi-link servo presses in parallel, patent number: ZL201010132896.0
? Bionic binocular stereo vision device, patent number: ZL200910045961.3
? Micro-nano operation platform of five-dimensional orthogonal structure, patent number: ZL200910049398.7
? Multi-well pumping machine, patent number: ZL200910055223.7
? Forging Operator with Upper Link Progressive Connection, patent number: ZL200910055222.2
? Shield tube piece assembly machine of six degrees of freedom, patent number: ZL200910309433.4
? Micro-nano operation platform of four-dimensional orthogonal structure, patent number: ZL200910049397.2
? Double-link flip table, patent number: ZL200810032482.3
? On-line inspection device for three-dimensional dimensions and temperature of large forgings, patent number: ZL200810032481.9
? The main drive of the elbow boring and milling head, patent number: ZL200810038195.3
? The eight-bar servo press with dual motor mechanically coordinated synchronous slider drive, patent number: ZL200810202233.4
? The slider structured decoupling six-dimensional force feedback device, patent number: ZL200810207800.5
? The parallel four-bar structured decoupling six-dimensional force feedback device, patent number: ZL200810207801.X
? Mechanically coordinated redundant fault tolerant drive, patent number: ZL201110377662.7
? Four-legged robot with space hybrid leg structure and hydraulically driven, patent number: ZL201110314607.3
? New four-legged walker with parallel leg structure, patent number: ZL201110314606.9
? Large heavy-duty vibration simulator with mechanical fault tolerance, patent number: ZL201110107998.1
? A multi-link mechanical press driven by a four-servo motor with a crank input in parallel, patent number: ZL201110050428.3
? Parallel six-dimensional output twenty-eight input redundant fault-tolerant drive simulator, patent number: ZL201010223540.8
? Redundant fault-tolerant motion simulator, patent number: ZL201010157304.0

Wu Wenjun Artificial Intelligence Science and Technology Award: Second Prize of Chinese Association for Artificial Intelligence, 2018
Topology and Scale Design Theory of the mechanisms of parallel robot: Second Prize of National Natural Science, 2013
Design Theory of Mechanism and Application of Parallel Robot, First Prize of Natural Science Award of the Ministry of Education, 2009
Study on miniature six-dimensional force and torque sensors in parallel structure: First Prize of Hebei Province Science and Technology Invention, 2002
Software development for double table dynamic track scale: Third Prize of Qinhuangdao Science and Technology Progress Award, 2000
Automatic control theory CAI System: Second Prize of Heilongjiang Province Excellent Teaching Achievement Award, 1995
Automatic control theory CAI System: First Prize of Yanshan University Excellent Teaching Achievement Award, 1995
Rapid predictive control of hydraulic thick adjustment system: Second Prize of Excellent Thesis award of Hebei Metal Society, 1993