Chen, Wenjie

Chen, Wenjie    Ph.D.
Curriculum Vitae [PDF]

Senior Research Engineer
Learning Robot Department
Robot Laboraroty
FANUC Corporation

Oshino-mura, Yamanashi Prefecture 401-0597, Japan

Email: wjchen AT berkeley.edu


Last updated on October 11, 2016


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About Me


I am currently a senior research engineer in the Learning Robot Department of Robot Laboratory at FANUC Corporation. I was a Ph.D student and then a postdoctoral scholar in the Mechanical Systems Control Lab in the Department of Mechanical Engineering at UC Berkeley. I worked with Professor Masayoshi Tomizuka on the several research projects including "A Hybrid Control Systems Approach to Brain-Machine Interfaces for Exoskeleton Control" and "Intelligent Control of Robot Manipulators for Performance Enhancement".

I obtained my M.S. and Ph.D. degrees both in Mechanical Engineering from UC Berkeley in May 2009 and August 2012, respectively. Prior to coming to UC Berkeley, I was an undergraduate student in Zhejiang University majored in Mechatronic Engineering and also hornored in Advanced Class of Engineering Education (ACEE), where I got my Bachelor degree in June 2007.

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Education


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Experiences


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Publications


Journal Publications (* denotes corresponding author)
  1. Junkai Lu*, Kevin Haninger, Wenjie Chen, Masayoshi Tomizuka, Suraj Gowda, and Jose M. Carmena, "Design of a Passive Upper Limb Exoskeleton for Macaque Monkeys," ASME Journal of Dynamic Systems, Measurement, and Control, 2016, accepted
  2. Pedro Reynoso-Mora*, Wenjie Chen, and Masayoshi Tomizuka, "A Convex Relaxation for the Time-optimal Trajectory Planning of Robotic Manipulators along Predetermined Geometric Paths," Optimal Control Applications and Methods, 2016   [DOI]   [PDF]
  3. Wenjie Chen*, Kyoungchul Kong, and Masayoshi Tomizuka, "Dual-Stage Adaptive Friction Compensation for Precise Load Side Position Tracking of Indirect Drive Mechanisms," Control Systems Technology, IEEE Transactions on, vol. 23, no. 1, pp. 164-175, Janurary 2015   [DOI]   [PDF]
  4. Wenjie Chen*, and Masayoshi Tomizuka, "Dual-Stage Iterative Learning Control for MIMO Mismatched System with Application to Robots with Joint Elasticity," Control Systems Technology, IEEE Transactions on, vol. 22, no. 4, pp. 1350-1361, July 2014  [DOI]   [PDF]
  5. Wenjie Chen*, and Masayoshi Tomizuka, "Direct Joint Space State Estimation in Robots with Multiple Elastic Joints," Mechatronics, IEEE/ASME Transactions on, vol. 19, no. 2, pp. 697-706, April 2014  [DOI] [PDF]
  6. Wenjie Chen*, and Masayoshi Tomizuka, "Comparative Study on State Estimation in Elastic Joints," Asian Journal of Control, vol. 16, no. 3, pp. 818-829, May 2014  [DOI]   [PDF]
  7. Jonathan Asensio, Wenjie Chen*, and Masayoshi Tomizuka, "Feedforward Input Generation Based on Neural Network Prediction in Multi-Joint Robots," Journal of Dynamic Systems, Measurement, and Control, 136 (3), 031002, May 2014  [DOI]   [PDF]
Refereed Confernce Proceedings (* denotes corresponding author)
  1. Chung-Yen Lin*, Wenjie Chen, and Masayoshi Tomizuka, "Learning Control for Task Specific Industrial Robots," in Proceedings of the 55th IEEE Conference on Decision and Control (CDC), Las Vegas, USA, December 12-14, 2016   [PDF]
  2. Te Tang*, Changliu Liu, Wenjie Chen, and Masayoshi Tomizuka, "Robotic Manipulation of Deformable Objects by Tangent Space Mapping and Non-Rigid Registration," in Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Deajeon, Korea, October 9-14, 2016   [PDF]
  3. Yu Zhao*, Wenjie Chen, Te Tang, and Masayoshi Tomizuka, "Zero Time Delay Input Shaping for Smooth Settling of Industrial Robots," in Proceedings of the 12th Conference on Automation Science and Engineering (CASE, ISAM 2016), Fort Worth, TX, USA, August 21-24, 2016   [PDF]
  4. Te Tang*, Hsien-Chung Lin, Yu Zhao, Wenjie Chen, and Masayoshi Tomizuka, "Autonomous Alignment of Peg and Hole by Force/Torque Measurement for Robotic Assembly," in Proceedings of the 12th Conference on Automation Science and Engineering (CASE, ISAM 2016), Fort Worth, TX, USA, August 21-24, 2016 (Best application paper finalist)  [PDF]
  5. Te Tang*, Hsien-Chung Lin, Yu Zhao, Yongxiang Fan, Wenjie Chen, and Masayoshi Tomizuka, "Teach Industrial Robots Peg-Hole-Insertion by Human Demonstration," in Proceedings of the 2016 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Banff, Alberta, Canada, July 12-15, 2016   [PDF]
  6. Yongxiang Fan*, Hsien-Chung Lin, Yu Zhao, Chung-Yen Lin, Te Tang, Masayoshi Tomizuka, and Wenjie Chen, "Object Position and Orientation Tracking for Manipulators Considering Unnegligible Sensor Physics," in Proceedings of the 2016 International Symposium on Flexible Automation (ISFA), Cleveland, USA, August 1-3, 2016   [PDF]
  7. Chung-Yen Lin*, Yu Zhao, Masayoshi Tomizuka, and Wenjie Chen, "Path-Constrained Trajectory Planning for Robot Service Life Optimization," in Proceedings of the 2016 American Control Conference (ACC), Boston, MA, USA, July 6-8, 2016   [PDF]
  8. Hsien-Chung Lin*, Te Tang, Yongxiang Fan, Yu Zhao, Masayoshi Tomizuka, and Wenjie Chen, "Robot Learning from Human Demonstration with Remote Lead through Teaching," in Proceedings of the 2016 European Control Conference (ECC), Aalborg, Denmark, June 29-July 1, 2016   [PDF]
  9. Hsien-Chung Lin*, Te Tang, Masayoshi Tomizuka, and Wenjie Chen, "Remote Lead Through Teaching by Human Demonstration Device," in Proceedings of the 8th ASME Dynamic Systems and Control Conference (DSCC), Columbus, Ohio, USA, October 28-30, 2015   [PDF]
  10. Junkai Lu*, Kevin Haninger, Wenjie Chen, and Masayoshi Tomizuka, "Design and Torque-Mode Control of a Cable-Driven Rotary Series Elastic Actuator for Subject-Robot Interaction," in Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Busan, Korea, pp. 158-164, July 7-11, 2015 (Best student paper finalist)   [PDF]
  11. Junkai Lu*, Wenjie Chen, Kevin Haninger, and Masayoshi Tomizuka, "A Passive Upper Limb Exoskeleton for Macaques in a BMI Study - Kinematic Design, Analysis, and Calibration," in Proceedings of the 7th ASME Dynamic Systems and Control Conference (DSCC), San Antonio, Texas, USA, October 22-24, 2014   [PDF]
  12. Kevin Haninger*, Junkai Lu, Wenjie Chen, and Masayoshi Tomizuka, "Kinematic Design and Analysis for a Macaque Upper-Limb Exoskeleton with Shoulder Joint Alignment," in Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, Illinois, USA, September 14-18, 2014   [PDF]
  13. Yizhou Wang*, Wenjie Chen, Masayoshi Tomizuka, and Badr N. Alsuwaidan, "Model Predictive Sliding Mode Control - for Constraint Satisfaction and Robustness," in Proceedings of the 6th Annual ASME Dynamic Systems and Control Conference (DSCC), Palo Alto, CA, October 21-23, 2013   [PDF]
  14. Chung-Yen Lin*, Wenjie Chen, and Masayoshi Tomizuka, "Automatic Sensor Frame Identification in Industrial Robots with Joint Elasticity," in Proceedings of the 6th Annual ASME Dynamic Systems and Control Conference (DSCC), Palo Alto, CA, October 21-23, 2013   [PDF]
  15. Pedro Reynoso-Mora*, Wenjie Chen, and Masayoshi Tomizuka, "On the Time-optimal Trajectory Planning and Control of Robotic Manipulators Along Predefined Paths," in Proceedings of the 2013 American Control Conference (ACC), Washington, DC, June 17-19, 2013   [PDF]
  16. Chi-Shen Tsai*, Wenjie Chen, Daekyu Yun, and Masayoshi Tomizuka, "Iterative Learning Control for Vibration Reduction in Industrial Robots with Link Flexibility," in Proceedings of the 2013 American Control Conference (ACC), Washington, DC, June 17-19, 2013  [PDF]
  17. Junkai Lu*, Wenjie Chen, and Masayoshi Tomizuka, "Kinematic Design and Analysis of a 6-DOF Upper Limb Exoskeleton Model for a Brain-Machine Interface Study," in Proceedings of the 6th IFAC Symposium on Mechatronic Systems (Mechatronics '13), Hangzhou, China, pp. 293-300, April 10-12, 2013 (Best student paper finalist)  [PDF]
  18. Yizhou Wang*, Wenjie Chen, and Masayoshi Tomizuka, "Extended Kalman Filtering for Robot Joint Angle Estimation Using MEMS Inertial Sensors," in Proceedings of the 6th IFAC Symposium on Mechatronic Systems (Mechatronics '13), Hangzhou, China, pp. 406-413, April 10-12, 2013  [PDF]
  19. Wenjie Chen*, and Masayoshi Tomizuka, "Iterative Learning Control with Sensor Fusion for Robots with Mismatched Dynamics and Mismatched Sensing," in Proceedings of the 2012 ASME Dynamic Systems and Control Conference (DSCC), Fort Lauderdale, Florida, USA, pp. 1480-1488, October 17-19, 2012 (Best paper in session award)  [PDF]
  20. Jonathan Asensio, Wenjie Chen*, and Masayoshi Tomizuka, "Robot Learning Control Based on Neural Network Prediction," in Proceedings of the 2012 ASME Dynamic Systems and Control Conference (DSCC), Fort Lauderdale, Florida, USA, pp. 1489-1497, October 17-19, 2012  [PDF]
  21. Wenjie Chen*, and Masayoshi Tomizuka, "Load Side State Estimation in Robot with Joint Elasticity," in Proceedings of the 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Kaohsiung, Taiwan, pp. 598-603, July 11-14, 2012  [PDF]
  22. Wenjie Chen*, and Masayoshi Tomizuka, "A Two-Stage Model Based Iterative Learning Control Scheme for a Class of MIMO Mismatched Linear Systems," in Proceedings of the 2012 ASME International Symposium on Flexible Automation (ISFA), St. Louis, Missouri, USA, paper No. ISFA2012-7199, June 18-20, 2012  [PDF]
  23. Cong Wang*, Wenjie Chen, and Masayoshi Tomizuka, "Robot End-effector Sensing with Position Sensitive Detector and Inertial Sensors," in Proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, Minnesota, USA, pp. 5252-5257, May 14-18, 2012  [PDF]
  24. Wenjie Chen*, and Masayoshi Tomizuka, "Estimation of Load Side Position in Indirect Drive Robots by Sensor Fusion and Kalman Filtering," in Proceedings of the 2010 American Control Conference (ACC), Baltimore, Maryland, USA, pp. 6852-6857, June 30-July 2, 2010  [PDF]
  25. Wenjie Chen*, Kyoungchul Kong, and Masayoshi Tomizuka, "Hybrid Adaptive Friction Compensation of Indirect Drive Trains," in Proceedings of the 2009 ASME Dynamic Systems and Control Conference (DSCC), Hollywood, California, USA, pp. 313-320,October 12-14, 2009  [PDF]
Technical Reports
  1. Michael Chan, Cong Wang, Chung-Yen Lin, Wenjie Chen, and Masayoshi Tomizuka, "UCB-FANUC Project Activity Report, June 2012-May 2013," University of California at Berkeley, June 2013
  2. Wenjie Chen, Pedro Reynoso-Mora, Michael Chan, Cong Wang, Chung-Yen Lin, and Masayoshi Tomizuka, "UCB-FANUC Project Activity Report, June 2011-May 2012," University of California at Berkeley, June 2012
  3. Daekyu Yun, Chi-Shen Tsai, Wenjie Chen, and Masayoshi Tomizuka, "Development of Design/Analysis and Evaluation Technologies for Vibration Reduction of LCD Substrate Transfer Robot," Technical Report to Hyundai Heavy Industries Co., Ltd., University of California at Berkeley, February 2012
  4. Wenjie Chen, Pedro Reynoso-Mora, Michael Chan, Cong Wang, and Masayoshi Tomizuka, "UCB-FANUC Project Activity Report, June 2010-May 2011," University of California at Berkeley, June 2011
  5. Wenjie Chen, Pedro Reynoso-Mora, Michael Chan, Cheng-Huei Han, and Masayoshi Tomizuka, "UCB-FANUC Project Activity Report, June 2009-May 2010," University of California at Berkeley, June 2010
  6. Cheng-Huei Han, Wenjie Chen, Pedro Reynoso-Mora, Michael Chan, and Masayoshi Tomizuka, "UCB-FANUC Project Activity Report, June 2008-May 2009," University of California at Berkeley, June 2009
  7. Cheng-Huei Han, Chun-Chih Wang, Wenjie Chen, and Masayoshi Tomizuka, "UCB-FANUC Project Activity Report, June 2007-May 2008," University of California at Berkeley, June 2008

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Teaching & Mentoring


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Honors & Awards (Selected)


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Academic Services


Institute of Electrical and Electronics Engineers (IEEE), Member
American Society of Mechanical Engineers (ASME), Member

Proposal Review Panel
External Reviewer of the Research Grants Council, Hong Kong (2013, 2014, 2016)

Editorial Board
Editorial Board Member of the International Journal of Advanced Robotic Systems (IJARS)

Conference Committee

Journal Referee

Conference Referee

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Skills


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