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姓名Name
林沛群 Pei-Chun Lin
職稱Title
特聘教授兼系主任 Distinguished Professor and Chair
辦公室Office
工綜503-3室
Rm.503-3,College of Engineering Bldg
電話Phone
+886-2-3366-9747
傳真Fax
+886-2-2363-9914
電子郵件E-mail
個人網頁Homepage
實驗室Lab
仿生機器人實驗室(工綜 102)
Bio-inspired Robotics Laboratory (BioRoLa)
Engineering Building Room 102
TEL:+886-2-33669771
http://biorola.me.ntu.edu.tw/
自傳
Short Biography
學歷
Education

美國 密西根大學
機械工程學 博士 2005
電機及資訊工程學 碩士 2005
University of Michigan – Ann Arbor, U.S.A.
Ph.D., Mechanical Engineering, 2005
M.S., Electrical Eng. and Computer Science, 2005

國立台灣大學
機械工程學 碩士 1998
機械工程學 學士 1996
National Taiwan University (NTU)
M.S., Mechanical Engineering, 1998
B.S., Mechanical Engineering, 1996

經歷
Professional Experience

國立台灣大學 機械工程學系
教授 (2015-2020)
副教授 (2011-2015)
助理教授 (2007-2011)
National Taiwan University, Mechanical Engineering
Professor (2015-2020)
Associate professor (2011-2015)
Assistant professor (2007-2011)

美國 賓州大學
博士後研究員 (2005-2007)
University of Pennsylvania, U.S.A.
Postdoctoral Research Fellow (2005-2007)

得獎與榮譽
Awards and Honors

  • 美國機械工程學會 會士
    ASME Fellow
  • 英國工程技術學會 會士
    IET Fellow
  • 臺灣機器人學會 會士
    RST Fellow
  • 科技部 傑出研究獎 (110)
    Outstanding Research Award, Ministry of Science and Technology (MOST)
  • 科技部 未來科技突破獎 (2018)
    FutureTech Breakthrough Award, MOST
  • 國科會 吳大猷先生紀念獎 (101)
    Da-You Wu Memorial Award, National Science Council (NSC)
  • 中華工程教育學會 教學傑出獎 (2021)
    Distinguished Teaching Award, Institute of Engineering Education, Taiwan (IEET)
  • 台灣大學 教學傑出獎 (101)
    Distinguished Teaching Award, NTU
  • 台灣大學 教學優良獎 (98,99,100,106,107,108,109,110)
    Outstanding Teaching Award, NTU

自傳(2007年版)
Biography

研究領域
Research Interests
主要為「運動系統之研究」,以「仿生機器人」為主軸,內含感測、演算與運動產生三大項目。
細部主題包括感測系統設計與應用、訊號處理、機械設計、仿生設計、機電整合、運動控制、步態分析、仿生材料、與系統整合。



My research focuses on understanding the principles and mechanisms of locomotion and developing bio-inspired robotics systems capable of agile and robust motion, particularly for legged applications. Various mobile systems are built, studied, and evaluated using analytical, simulation, and experimental approaches. The unique feature of the research lies in design-control integrated consideration and a model-based approach to investigate dynamic behaviors of the physical systems. The research involves mechanical design, mechatronic systems, sensor applications, control strategy, system integration, gait analysis, locomotion, and bio-materials.

 

教學課程
Teaching Courses
目前開授課程:
  • 機器人學(一)
    (線上Coursera課程,台大MOOC)
    Robotics (1)
    (online Coursera course, NTU MOOC)
  • 自動控制
    Automatic Control
  • 機器人簡介
    (與黃漢邦教授合授)
    Introduction to Robotics
    (co-lectured with Prof. Han-Pang Huang)
  • 機電系統原理與實驗一
    Theory and Experiments of Electromechanical Systems (I)
  • 機械工程實務
    (與五位教授合授)
    Practice of Mechanical Engineering
    (co-lecture with five other faculty members)

----------------------------------------------------------------
曾開授課程:

  • 動力學
    Dynamics
  • 工程數學(下)
    Engineering Mathematics (II)
  • 系統動態學
    System Dynamics
  • 仿生工程概論
    Introduction to Biomimetic Engineering
  • 自動機器設計(一)(二)
    (與黃光裕教授合授)
    Automatic Machine Design (I)(II)
    (co-lecture with Prof. Kuang-Yu Huang)
  • 智慧車輛設計與實務(一) (二)
    (與鄭榮和、李綱、詹魁元、劉霆等教授合授)
    Design and Practice of Intelligent Vehicles (I)(II)
    (co-lecture with four other faculty members)
  • 應用昆蟲學(與實習)
    (與昆蟲系許如君、 楊恩誠、 黃榮南、蔡志偉等教授合授)
    Applied Entomology (with lab session)
    (co-lectured with four other faculty members)
研究著作
Publications
選列期刊論文
Selected
Archival journals:
    1. T. H. Wang and P. C. Lin*, “A reduced-order-model-based motion selection strategy in a leg-wheel transformable robot,” IEEE/ASME Transactions on Mechatronics (T-MECH), DOI: 10.1109/TMECH.2021.3126606, Dec. 2021
    2. W. J. Chang, C. L. Chang, J. H. Ho, and P. C. Lin*, “Design and implementation of a novel spherical robot with rolling and leaping capability,” Mechanism and Machine Theory, DOI: 10.1016/j.mechmachtheory.2022.104747, May 2022, vol.171 104747, (20pp)
    3. K. Y. Tseng and P. C. Lin*, “A model-based strategy for quadruped running with differentiated fore- and hind leg morphologies,” Bioinspiration and Biomimetics, Feb. 2022, DOI: 10.1088/1748-3190/ac3f7e, vol.17, 026008 (19pp)
    4. W. S. Yang, W. C. Lu, and P. C. Lin*, “Legged robot running using a physics-data hybrid motion template,” IEEE Transactions on Robotics (T-RO), Apr. 2021, DOI: 10.1109/TRO.2021.3065241; Oct. 2021, vol.37 no.5, pp1680-1695
    5. H. Y. Chen, T. H. Wang, K. C. Ho, C. Y. Ko, P. C. Lin, and P. C. Lin*, “Development of a novel leg-wheel module with fast transformation and leaping capability,” Mechanism and Machine Theory, Sep. 2021, vol.163, 104348 (20pp)
    6. C. J. Hu, T. K. Wang, C. K. Huang, and P. C. Lin*, “A torque-actuated dissipative spring loaded inverted pendulum model with rolling contact and its application to hexapod running,” Bioinspiration and Biomimetics, Feb. 2019, vol.14, 026005 (20pp)
    7. W. C. Lu, M. Y. Yu, and P. C. Lin*, “Clock-torqued rolling SLIP model and its application to variable-speed running in a hexapod robot,” IEEE Transactions on Robotics (T-RO), Dec. 2018, vol.34 no.6, pp1643-1650
    8. W. H. Chen, H. S. Lin, Y. M. Lin, and P. C. Lin*, “TurboQuad: A novel leg-wheel transformable robot with smooth and fast behavioral transitions,” IEEE Transactions on Robotics (T-RO), Oct. 2017, vol.33 no.5, pp1025-1040
    9. Y. M. Lin, H. S. Lin, and P. C. Lin*, SLIP-model-based dynamic gait generation in a leg-wheel transformable robot with force control,” IEEE Robotics and Automation Letters (RA-L), Apr. 2017, vol.2 no.2, pp804-810
    10. W. H. Ko, W. H. Chiang, Y. H. Hsu, M. Y. Yu, H. S. Lin, and P. C. Lin*, A model-based two-arm robot with dynamic vertical and lateral climbing behaviors,” ASME Journal of Mechanisms and Robotics (JMR), Aug. 2016, vol.8, no.4, 044503 (9pp)
    11. K. J. Huang, S. C. Chen, H. Komsuoglu, G. A. D. Lopes, J. E. Clark, and P. C. Lin*, Design and performance evaluation of a bio-inspired and single-motor-driven hexapod robot with dynamic gaits,” ASME Journal of Mechanisms and Robotics (JMR), Aug. 2015, vol.7, no.3, 031017 (12pp)
    12. Y. C. Chou, K. J. Huang, W. S. Yu, and P. C. Lin*, Model-based development of leaping in a hexapod robot,” IEEE Transactions on Robotics (T-RO), Feb. 2015. vol.31, no.1, pp40-54
    13. P. C. Lin*, Teaching the root locus technique with plots categorization in an automatic control course,” International Journal of Electrical Engineering Education (IJEEE), Jan. 2015, vol.52, no.1, pp3-13
    14. K. J. Huang, C. K. Huang, and P. C. Lin*, A simple running model with rolling contact and its role as a template for dynamic locomotion on a hexapod robot,” Bioinspiration and Biomimetics, Oct. 2014, vol.9, 046004 (20pp)
    15. P. L. Ko, F. L. Chang, C. H. Li, J. Z. Chen*, I. C. Cheng, Y. C. Tung, S. H. Chang, and P. C. Lin*, Dynamically programmable surface micro-wrinkles on PDMS-SMA composite,” Smart Materials and Structures, Sep. 2014, vol.23, 115007 (9pp)
    16. S. C. Chen, K. J. Huang, W. H. Chen, S. Y. Shen, C. H. Li, and P. C. Lin*,Quattroped: A leg-wheel transformable robot,” IEEE/ASME Transactions on Mechatronics (T-MECH), Apr. 2014, vol.19, no.2, pp730-742
    17. W. H. Chen, C. P. Chen, J. S. Tsai, J. Yang, and P. C. Lin*, Design and implementation of a ball-driven omnidirectional spherical robot,” Mechanism and Machine Theory (MMT), Oct. 2013, vol.68, pp35-48
    18. J. C. Lu, J. Y. Chen, and P. C. Lin*, Turning in a bipedal robot,” Journal of Bionic Engineering, Jul. 2013, vol.10, no.3, pp292-304
    19. P. C. Lin*, J. C. Lu, C. H. Tsai, and C. W. Ho, Design and implementation of a nine-axis inertial measurement unit,” IEEE/ASME Transactions on Mechatronics (T-MECH), Aug. 2012, vol.17, no.4, pp657-668
    20. G. A. Lynch, J. E. Clark, P. C. Lin, and D. E. Koditschek, A bioinspired dynamical vertical climbing robot,” International Journal of Robotic Research (IJRR), July 2012, vol.31, no.8, pp974-996
    21. Y. C. Chou, W. S. Yu, K. J. Huang, and P. C. Lin*, Bio-inspired step-climbing in a hexapod robot,” Bioinspiration and Biomimetics, May 2012, vol.7, 036008
    22. J. G. Wu, M. C. Liu, M. F. Tsai, W. S. Yu, J. Z. Chen*, I. C. Cheng, and P. C. Lin*, Multi-layer thermoelectric-temperature-mapping microbial incubator designed for geo-biochemistry applications,” Review of Scientific Instruments, Apr. 2012, vol.83, 045116
    23. M. C. Liu, J. G. Wu, M. F. Tsai, W. S. Yu, P. C. Lin*, I. C. Chiu, H. A. Chin, I. C. Cheng, Y. C. Tung, J. Z. Chen*, Two dimensional thermoelectric platforms for thermocapillary droplet actuation,” RSC Advances, Feb. 2012, vol.2, no.4, pp1639-1642
    24. S. Yang, K. Khare, and P. C. Lin, Harnessing surface wrinkle patterns in soft matter,” Advanced Functional Materials, Aug. 2010, vol.20, no.16, pp2550-2564
    25. J. Z. Chen, H. H. Shieh, I. C. Cheng, C. C. Hsiao, P. C. Lin, and Y. H. Yeh, The electromechanical characteristics of ZnO grown on Poly(ethylene terephthalate) substrates,”Journal of The Electrochemical Society, May 2010, vol.157, no.7, H750-H754
    26. P. C. Lin* and S. Yang, Mechanically switchable wetting on wrinkled elastomers with dual-scale roughness,” Soft Matter, Feb. 2009, vol.5, pp1011-1018
    27. P. C. Lin, S. Vajpayee, A. Jagota, C. Y. Hui, and S. Yang, Mechanically tunable dry adhesive from wrinkled elastomers,” Soft Matter, Aug. 2008, vol.4, pp1830-1835
    28. Y. Zhang, E. A. Matsumoto, A. Peter, P. C. Lin, R. D. Kamien, and S. Yang, One-step nanoscale assembly of complex structures via harnessing of an elastic instability,” Nano Letter, Apr. 2008, vol.8, pp1192-1196
    29. D. Chandra, S. Yang, and P. C. Lin,Strain responsive concave and convex microlens arrays,” Applied Physics Letters, Dec. 2007, vol.91, 251912
    30. P. C. Lin and S. Yang, Spontaneous formation of 1D ripples in transit to highly-ordered 2D herringbone structures through sequential and unequal 2D mechanical force,” Applied Physics Letters, Jun. 2007, vol.90, 241903
    31. K. Huang, P. C. Lin, and S. Tsai, “Magnetic torque compensating methods for cam indexing devices,” IEEE Transactions on Magnetics (T-MAG), Mar. 2007, vol.43, no.3, pp1061-1071
    32. J. C. Spagna, D. I. Goldman, P. C. Lin, D. E. Koditschek, and R. J. Full, Distributed mechanical feedback in arthropods and robots simplifies control of rapid running on challenging terrain,” Bioinspiration and Biomimetics, Mar. 2007, vol.2, no.1, pp9-18, journal cover for March 07 issue
    33. P. C. Lin, H. Komsuoglu, and D. E. Koditschek, Sensor data fusion for body state estimation in a hexapod robot with dynamical gaits,” IEEE Transactions on Robotics (T-RO), Oct. 2006, vol.22, no.5, pp932-943
    34. P. C. Lin, H. Komsuoglu, and D. E. Koditschek, A leg configuration measurement system for full body pose estimates in a hexapod robot,” IEEE Transactions on Robotics (T-RO), Jun. 2005, vol.21, no.3, pp411-422

媒體
Media

    1. 大自然的鬼斧神工 - 感官大師” 地球證詞 大愛台,Jan. 23, 2021首播
    2. “以終為始,再創研值 - 機器人化身書法家” 科技部2020月曆 - 5月主題,Jan. 1, 2020
    3. “新科技大未來 - 輪腳複合機器人” 國立教育廣播電臺,Oct. 30, 2019首播
    4. “導入AI解決方案 打造可感知環境並穿越的多地形上輪腳複合機器人” 今週刊,Sep. 3, 2019
    5. “生物與人工的智慧結合---仿生機器人”科學月刊,Vol.50,No.3,pp32-35,Mar. 2019
    6. “2018 未來科技展人文沙龍講座:誰與爭鋒” 人文與社會科學簡訊,Vol. 20,No. 2,pp 41-46,Mar. 2019
    7. “《科技台灣大未來》Ep1 機器人大未來” 民視,Dec. 15, 2018 首播
    8. “(五大亮點技術)多地形上輪腳複合移動載台” 科技部未來科技展展前記者會, Nov. 6, 2018
    9. “機器人實驗室---仿生機器人” 幼獅少年,2017年7月號489期,Jul. 2017,pp12-15 (ISSN:1025-2991)
    10. “The engineering eye candy at NIWeek 2017: A legs-to-wheels robot is a prize winner,” Design World, May 30, 2017
    11. “仿生專集” 下課花路米,公視,Mar. 28, 2017 首播
    12. “跟小強學走路” 抄自然系列,一傳十文教, Mar. 9, 2017
    13. “科學不一樣” TVBS,Jun. 6, 2015 首播
    14. “探索科學 解碼台灣” 台視,Apr. 23, 2015首播
    15. “M.I.C.微型點子對撞機 X 民視科學再發現:機運II” 卡市達創業加油站,Oct. 7, 2014
    16. “Video Monday: Agile Justin, Baby Elephant Robot, and More From ICRA 2014,” IEEE Spectrum, Jun., 2014
    17. “生物多樣性與機器人科學的對話:林沛群老師專訪” 【生物多樣大學堂】台大無限期支持生物多樣性團隊/台灣環境資訊協會,May 2014
    18. “尋求專長與興趣的平衡” 台大教學傑出教師的故事,台大出版中心,pp144-153,Sep. 2013 (ISBN:978-986-03-7851-1)
    19. “六足仿生機器人與輪足複合機器人 – 台大仿生機器人實驗室專訪” Robocon機器人雜誌,No.9,pp26-29,Mar. 2013 (ISSN:2226-1311)
    20. “《發現》師法自然 - 想飛的翅膀飛簷走壁向前行” 大愛科普節目,大愛電視台,Aug., 2012首播
    21. “Robot’s magic wheels transform into legs,” Automation, IEEE Spectrum, Mar., 2011
    22. “在密西根大學的五年歲月 & 赴美留學不再有疑惑” 台大機械人,No. 5,pp46-54,Jun. 2009

展覽
Exhibition

    1. 仿生展---從大自然來的絕妙點子,國立台灣科學教育館 7F特展,台北 台灣,Jul. 15, 2020 - Oct. 4, 2020
    2. 108資訊月,世貿1館,Dec. 4-8, 2019(書法機器人)
    3. 台灣機器人與智慧自動化展,南港展覽館2館,Aug. 24, 2019(多足機器人,科普親子展示)
    4. 仿生—從大自然來的絕妙點子,重慶科技館,重慶 中國,2019/7/6 – 2019/11/10
    5. 科技部 第二季AI跨域觀摩交流會,Apr. 30, 2019
    6. 台大杜鵑花節:人工智慧與機器人研究中心Open House Day,台大博理館,Mar. 16, 2019(書法機器人、輪腳複合機器人、六足機器人)
    7. 台北國際工具機展,南港展覽館2館,Mar. 3-9, 2019(書法機器人)
    8. 仿生絕妙–師法自然科學解密,科技部 一樓 科學迴廊 & 科技大觀園網站,Dec. 24, 2018- June 30, 2019
    9. Future Tech 未來科技展,世貿三館,台北 台灣,Dec. 13-15, 2018(書法機器人,人文展區)
    10. Future Tech 未來科技展,世貿三館,台北 台灣,Dec. 13-15, 2018(輪腳複合機器人,AI展區)
    11. 仿生展,澳門 科學館,澳門 中國,Dec. 1, 2018 - Mar. 31, 2019
    12. AIslander’s Show,台北國際會議中心,台北 台灣,Aug. 28, 2018
    13. 仿生展---從大自然來的絕妙點子,國立台灣科學教育館 7F特展,台北 台灣,Dec. 15, 2016 - Aug. 31, 2017
    14. Student Design Showcase, NI Week 2017, Austin, Texas, USA, May 22-25, 2017
    15. 昆蟲常設展,宜蘭縣自然史教育館,羅東 台灣2014/11迄今
    16. 解開昆蟲密碼,國立台灣科學教育館 7F特展,台北 台灣,Nov. 19, 2013 - Aug. 31, 2014
    17. Graphical System Design, NI Week 2011, Austin, Texas, USA, Aug. 2-4, 2011