2013/12-至今, 清华大学机械工程系，教授

2012/12-2013/12, 清华大学机械工程系，副教授

1998/08-2012/12, 清华大学精密仪器与机械学系，副教授

1992/12-1998/08，清华大学精密仪器与机械学系，讲师

1990/08-1992/12，清华大学精密仪器与机械学系，助教

研究领域为机器人与自动化技术及装备，致力于机器人智能加工与操作理论与技术、智能精密装配技术与装备等方面的学术研究与工程应用开发。承担国家自然科学基金、863重点项目、工信部民机专项、北京市自然科学基金、校企合作项目等数十项，在IJMTM、TIE、RCIM等期刊上发表SCI收录论文60余篇，合编教材和手册5部，获授权发明专利80余项。担任中国自动化学会制造技术专委员、中国指挥与控制学会自抗扰控制等多个专委会委员。

招收机械、控制、计算机及机器人等方向的博士后、博士生及硕士生。

近年发表的主要论文：

[1] Shirui Wu, Jiwen Zhang, Dan Wu. An optimization-based motion planner for dual-arm manipulation of the soft deformable linear objects with nonnegligible gravity. Advanced Engineering Informatics, 2024, 62: 102874.

[2] Bing Wang, Jiwen Zhang, Song Wang, Dan Wu. High-accuracy 6-D pose measurement method for 3C thin parts in robotic assembly by monocular vision. Optics and Laser Technology, 2024, 181: 111937.

[3] Bing Wang, Jiwen Zhang, Dan Wu. Force-vision fusion fuzzy control for robotic batch precision assembly of flexibly absorbed pegs. Robotics and Computer-Integrated Manufacturing, 2024, 92: 102861.

[4] Yuhang Gai, Jiwen Zhang, Dan Wu, Ken Chen. Local connection reinforcement learning method for efficient robotic peg-in-hole assembly. Engineering Applications of Artificial Intelligence, 2024, 133: 108520.

[5] Yuhang Gai, Bing Wang, Jiwen Zhang, Dan Wu, Ken Chen. Robotic assembly control reconfiguration based on transfer reinforcement learning for objects with different geometric features. Engineering Applications of Artificial Intelligence, 2024, 129: 107576.

[6] Kui Hu, Jiwen Zhang, Dan Wu. Learning from demonstration for 7-DOF anthropomorphic manipulators without offset via analytical inverse kinematics. Neurocomputing, 2024, 598: 128036.

[7] Kui Hu, Jiwen Zhang, Dan Wu. Kernelized gradient descent method for learning from demonstration. Neurocomputing, 2023, 558: 126781.

[8] Jiuming Guo, Jiwen Zhang, Dan Wu, Yuhang Gai, Ken Chen. A local manipulation path replanning algorithm on deformable linear objects for collisions resulted from model deviation. Journal of Manufacturing Systems, 2022, 65: 362-377.

[9] Sirui Wu, Jiwen Zhang, Dan Wu. Equilibrium Manipulation Planning for a Soft Elastic Rod Considering an External Distributed Force and Intrinsic Curvature. IEEE Robotics and Automation Letters, 2022, 7(4): 11442-11449.

[10] Yuhang Gai, Bing Wang, Jiwen Zhang, Dan Wu, Ken Chen. Piecewise strategy and decoupling control method for high pose precision robotic peg-in-hole assembly. Robotics and Computer-Integrated Manufacturing, 2022, 79: 102451.

[11] Yuhang Gai, Jiuming Guo, Dan Wu, Ken Chen. Feature-Based Compliance Control for Precise Peg-in-Hole Assembly. IEEE Transactions on Industrial Electronics, 2022, 69(9): 9309-9319.

[12] Fangli Mou, Hao Ren, Bing Wang, Dan Wu. Pose estimation and robotic insertion tasks based on YOLO and layout features. Engineering Applications and Artificial Intelligence, 2022, 114: 105164.

[13] Fangli Mou, Bin Wang, Dan Wu. Learning-based cable coupling effect modeling for robotic manipulation of heavy industrial cables. Scientific Reports, 2022, 12(1): 6036.

[14] Yuhang Gai, Jiuming Gai, Dan Wu, Ken Chen. Model-driven reinforcement learning and action dimension extension method for efficient asymmetric assembly. 2022 International Conference on Robotics and Automation (ICRA), pp9867-9873.

[15] Fangli Mou, Dan Wu, Yunfei Dong. Disturbance rejection sliding mode control for robots and learning design. Intelligent Service Robotics, 2021, 14(2): 251-269.

[16] Yuhang Gai, Jiwen Zhang, Jiuming Guo, Xunlei Shi, Dan Wu, Ken Chen. Construction and uncertainty evaluation of large-scale measurement system of laser trackers in aircraft assembly. Measurement, 2020, 165: 108144.

[17] Jiuming Guo, Jiwen Zhang, Dan Wu, Yuhang Gai, Ken Chen. An algorithm based on bidirectional searching and geometric constrained sampling for automatic manipulation planning in aircraft cable assembly. Journal of Manufacturing Systems, 2020, 57: 158-168.

[18] Yunfei Dong, Tianyu Ren, Kui Hu, Dan Wu, Ken Chen. Contact force detection and control for robotic polishing based on joint torque sensors. International Journal of Advanced Manufacturing Technology, 2020, 107(5-6): 2745-2756.

[19] Yunfei Dong, Tianyu Ren, Dan Wu, Ken Chen. Compliance Control for Robot Manipulation in Contact with a Varied Environment Based on a New Joint Torque Controller. Journal of Intelligent & Robotic Systems, 2020, 99(1): 79-90.

[20] Tianyu Ren, Yunfei Dong, Dan Wu, Ken Chen. Design of direct teaching behavior of collaborative robot based on force interaction. Journal of Intelligent & Robotic Systems, 2019, 96(1): 83-93.

[21] Yuxi Zhang, Dan Wu, Ken Chen. A theoretical model for predicting the CFRP drilling-countersinking thrust force of stacks, Composite Structures, 2019, 209: 337-348.

[22] Tianyu Ren, Yunfei Dong, Dan Wu, Ken Chen. Impedance control of collaborative robots based on joint torque servo with active disturbance rejection，Industrial Robot-An International Journal, 2019, 46(4): 518-528.

[23] Tianyu Ren, Yunfei Dong, Dan Wu, Ken Chen. Learning-based variable compliance control for robotic assembly. Journal of Mechanisms and Robotics-Transactions of the ASME, 2018, 10(6): 061008.

[24] Tianyu Ren, Yunfei Dong, Dan Wu, Ken Chen. Collision detection and identification for robot manipulators based on extended state observer. Control Engineering and Practice, 2018，79: 144-153.

[25] Yunfei Dong, Tianyu Ren, Dan Wu, Ken Chen. An efficient robot payload identification method for industrial application，Industrial Robot-The International Journal of Robotics Research and Application, 2018, 45(4): 505-515.