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  1. Queen Mary University of London
  2. Research
  3. Publications

Publications: Dr Ketao Zhang

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Jiang Z, Zhang K ( 2025 ) . Modeling, optimization, and control of a variable stiffness pneumatic rotary joint with soft-rigid hybrid twisting modules . Mechanism and Machine Theory vol. 205 ,
Xu Y, Song D, Zhang K, Shi C ( 2024 ) . Development of a Variable-Pitch Flexible-Screw-Driven Continuum Robot (FSDCR) with Motion Decoupling Capability . Soft Robotics
Liu C, Uddin MH, Zhang K ( 2024 ) . Capacitive PVC gel pressure sensors with various interlinked microstructural dielectric middle layers . Sensors and Actuators A Physical vol. 374 ,
Wang Y, Liu C, Zhang K ( 2024 ) . A Novel Morphing Quadrotor UAV with Sarrus-Linkage-Based Reconfigurable Frame . Conference: 2024 6th International Conference on Reconfigurable Mechanisms and Robots (ReMAR) vol. 00 , 283 - 289 .
Zuo Z, De Corte W, Huang Y, Chen X, Zhang Y, Li J, Zhang L, Xiao J et al. ( 2024 ) . Strategies towards large-scale 3D printing without size constraints . Virtual and Physical Prototyping vol. 19 , ( 1 )
Jiang Z, Zhang K ( 2024 ) . Force analysis of a soft-rigid hybrid pneumatic actuator and its application in a bipedal inchworm robot . Robotica vol. 42 , ( 5 ) 1436 - 1452 .
Liu C, Zhang K ( 2024 ) . A Wearable Finger Tremor-Suppression Orthosis Using the PVC Gel Linear Actuator . IEEE Robotics and Automation Letters vol. 9 , ( 4 ) 3854 - 3861 .
Wang Z, Hu M, Zhang K ( 2024 ) . Underwater Turbid Media Stokes-Based Polarimetric Recovery . Sensors vol. 24 , ( 5 )
Jiang Z, Wang Y, Zhang K ( 2024 ) . Development of a Pneumatically Actuated Quadruped Robot Using Soft–Rigid Hybrid Rotary Joints . Robotics vol. 13 , ( 2 )
Zhang K, Chermprayong P, Xiao F, Tzoumanikas D, Dams B, Kay S, Kocer BB, Burns A et al. ( 2024 ) . Author Correction: Aerial additive manufacturing with multiple autonomous robots . Nature vol. 626 , ( 7998 ) e5 - e5 .
Zuo Z, Wouter De C, Huang Y, Chen X, Zhang Y, Li J, Zhang L, Xiao J et al. ( 2023 ) . Propelling the widespread adoption of large-scale 3D printing . Nature Reviews Materials
( 2023 ) . IDETC-CIE2023 Front Matter .
Jiang Z, Zhang K ( 2023 ) . Reaction Force Analysis and Validation of a Rigid Origami-Inspired Modified Wren Parallel Mechanism With Flexure Hinges . Conference: Volume 8: 47th Mechanisms and Robotics Conference (MR)
Liu C, Busfield JJC, Zhang K ( 2023 ) . An Electric Self‐Sensing and Variable‐Stiffness Artificial Muscle . Advanced Intelligent Systems vol. 5 , ( 9 )
Liu C, Busfield JJC, Zhang K ( 2023 ) . An Electric Self‐Sensing and Variable‐Stiffness Artificial Muscle . Advanced Intelligent Systems
Siddall R, Zufferey R, Armanini S, Zhang K, Sareh S, Sergeev E ( 2023 ) . The Natural Robotics Contest: crowdsourced biomimetic design . Bioinspiration & Biomimetics vol. 18 , ( 3 )
Jiang Z, Liu C, Zhang K ( 2022 ) . A Variable Stiffness Continuum Parallel Manipulator With 3D Printed Pneumatic Artificial Muscles . Conference: Volume 7: 46th Mechanisms and Robotics Conference (MR)
Liang H, Hao G, Olszewski OZ, Jiang Z, Zhang K ( 2022 ) . Design of a foldable origami mechanism with helical motion inspired by the Resch Triangular Tessellation . Mechanism and Machine Theory vol. 179 ,
Zhang K ( 2022 ) . Aerial Additive Manufacturing with Multiple Autonomous Robots . Nature
Wang X, Wang Y, Zhang K, Althoefer K, Su L ( 2022 ) . Learning to sense three-dimensional shape deformation of a single multimode fiber . Scientific Reports
Liu C, Edwards O, Althoefer K, Zhang K, Godaba H ( 2022 ) . An Electro-pneumatic Shape Morphing Rolling Robot with Variable Locomotion Modes . Conference: 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft) vol. 00 , 715 - 721 .
Asci S, Zhang K ( 2021 ) . Design and Kinematic Simulation of a Novel Leg Mechanism for Multi-Legged Robots . Conference: Volume 8B: 45th Mechanisms and Robotics Conference (MR)
Vitanov I, Farkhatdinov I, Denoun B, Palermo F, Otaran A, Brown J, Omarali B, Abrar T et al. ( 2021 ) . A Suite of Robotic Solutions for Nuclear Waste Decommissioning . Robotics vol. 10 , ( 4 ) 112 - 112 .
Liu C, Li B, Li Z, Cao C, Gao X, Zhang K, Chen H ( 2021 ) . 3D printable and fringe electric field adhesion enabled variable stiffness artificial muscles for semi-active vibration attenuation . Soft Matter
Jiang Z, Zhang K ( 2021 ) . A Novel Torsional Actuator Augmenting Twisting Skeleton and Artificial Muscle for Robots in Extreme Environments . Proceedings - IEEE International Conference on Robotics and Automation . Conference: The 2021 International Conference on Robotics and Automation (ICRA 2021) from: 05/06/2021 to: 30/05/2021 , vol. 2021-May , 9318 - 9324 .
Zhang K, Liu C ( 2021 ) . Design and Analysis of a Novel Reconfigurable Parallel Manipulator with Kirigami-inspired Bennett Plano-Spherical Linkages and Angular Pouch Motors . Journal of Mechanisms and Robotics1 - 23 .
Godaba H, Sajad A, Patel N, Althoefer K, Zhang K ( 2020 ) . A two-fingered robot gripper with variable stiffness flexure hinges based on shape morphing . IEEE International Conference on Intelligent Robots and Systems . Conference: 2020 IEEE International Conference on Intelligent Robots and Systems8716 - 8721 .
Zhang K ( 2020 ) . A Type-III Bennett Plano-Spherical Linkage Evolved Parallel Manipulator and Design of a Novel Inflatable Bending Actuator for Reconfiguration . Conference: THE 4TH INTERNATIONAL CONFERENCE ON FUNDAMENTAL ISSUES, APPLICATIONS AND FUTURE RESEARCH DIRECTIONS FOR PARALLEL MECHANISMS / MANIPULATORS / MACHINES ( BELFAST, UK ) from: 09/09/2020 to: 11/09/2020 ,
Wei Y, Chai X, Zhang K ( 2020 ) . Kinematic Modeling and Optimization of a New Reconfigurable Parallel Mechanism . Mechanism and Machine Theory
Yang C, Ye W, Zhang K, Huang F, Zhang W ( 2020 ) . Stiffness Performance Evaluation of 2UPR-RPU Over-constrained Parallel Mechanism . Nongye Jixie Xuebao/Transactions of the Chinese Society of Agricultural Machinery vol. 51 , ( 2 ) 392 - 401 .
Zhang K, Althoefer K ( 2019 ) . Designing Origami-Adapted Deployable Modules for Soft Continuum Arms . Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) . Conference: 20th Towards Autonomous Robotic Systems (TAROS 2019) ( London ) from: 03/07/2019 to: 05/07/2019 , vol. 11649 LNAI , 138 - 147 .
Zhang K, Zhu Y, Lou C, Zheng P, Kovač M ( 2019 ) . A Design and Fabrication Approach for Pneumatic Soft Robotic Arms Using 3D Printed Origami Skeletons . Conference: 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) vol. 00 , 821 - 827 .
Chermprayong P, ZHANG K, Xiao F, Kovac M ( 2019 ) . An Integrated Delta Manipulator for Aerial Repair: A New Aerial Robotic System . IEEE Robotics and Automation Magazine
Ye W, Li Q, Zhang K ( 2019 ) . Kinematics and Performance Analysis of 2R2T Parallel Manipulator with Partially Decoupled Motion . Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery vol. 50 , ( 1 ) 374 - 382 .
Althoefer K, Konstantinova J, Zhang K ( 2019 ) . Preface .
Zhang K, Chermprayong P, Tzoumanikas D, Li W, Grimm M, Smentoch M, Leutenegger S, Kovac M ( 2018 ) . Bioinspired design of a landing system with soft shock absorbers for autonomous aerial robots . Journal of Field Robotics
Tzoumanikas D, Li W, Grimm M, Zhang K, Kovac M, Leutenegger S ( 2018 ) . Fully autonomous micro air vehicle flight and landing on a moving target using visual–inertial estimation and model-predictive control . Journal of Field Robotics
Liu J, Zhang X, ZHANG K, Dai JS, Li S, Sun Q ( 2018 ) . Configuration analysis of a reconfigurable Rubik's snake robot . Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Ma X, Zhang K, Dai JS ( 2018 ) . Novel spherical-planar and Bennett-spherical 6R metamorphic linkages with reconfigurable motion branches . Mechanism and Machine Theory vol. 128 , 628 - 647 .
Zhang K, Chermprayong P, Alhinai TM, Siddall R, Kovac M ( 2017 ) . SpiderMAV: Perching and stabilizing micro aerial vehicles with bio-inspired tensile anchoring systems . IEEE International Conference on Intelligent Robots and Systems . Conference: IROS2017 vol. 2017-September , 6849 - 6854 .
Dams B, Sareh S, Zhang K, Shepherd P, Kovac M, Ball RJ ( 2017 ) . Remote three-dimensional printing of polymer structures using drones . Proceedings of the Institution of Civil Engineers - Construction Materials1 - 31 .
van der Wijk V, Zhang K, Dai JS ( 2016 ) . Force Balance of a Spatial Metamorphic 6R Closed-Chain Linkage With Specific Kinematic Conditions . Conference: Volume 5B: 40th Mechanisms and Robotics Conferencev05bt07a058 - v05bt07a058 .
Calzati M, Zhang K, Castelli VP, Dai JS ( 2016 ) . Kinematics Analysis and Control of a Three-Fingered Metamorphic Robot Hand . Conference: Volume 5B: 40th Mechanisms and Robotics Conferencev05bt07a053 - v05bt07a053 .
Ye W, Fang Y, Zhang K, Guo S ( 2016 ) . Mobility variation of a family of metamorphic parallel mechanisms with reconfigurable hybrid limbs . Robotics and Computer-Integrated Manufacturing vol. 41 , Article C , 145 - 162 .
Zhang K, Dai JS ( 2016 ) . Geometric constraints and motion branch variations for reconfiguration of single-loop linkages with mobility one . Mechanism and Machine Theory vol. 106 , Article C , 16 - 29 .
Salerno M, Zhang K, Menciassi A, Dai JS ( 2016 ) . A Novel 4-DOF Origami Grasper With an SMA-Actuation System for Minimally Invasive Surgery . IEEE Transactions on Robotics vol. 32 , ( 3 ) 484 - 498 .
Qiu C, Zhang K, Dai JS ( 2016 ) . Repelling-screw based force analysis of origami mechanisms . Journal of Mechanisms and Robotics vol. 8 , ( 3 )
Zhang K, Qiu C, Dai JS ( 2016 ) . An extensible continuum robot with integrated origami parallel modules . Journal of Mechanisms and Robotics vol. 8 , ( 3 )
Zhang K, Qiu C, Dai JS ( 2015 ) . An Origami Parallel Structure Integrated Deployable Continuum Robot . Conference: Volume 5B: 39th Mechanisms and Robotics Conferencev05bt08a032 - v05bt08a032 .
Qiu C, Zhang K, Zhao JS, Dai JS ( 2015 ) . Stiffness Design, Analysis and Validation of a Parallel-Mechanism Equivalent Suspension System . Conference: Volume 5B: 39th Mechanisms and Robotics Conferencev05bt08a006 - v05bt08a006 .
Zhang K, Müller A, Dai JS ( 2015 ) . A Novel Reconfigurable 7R Linkage with Multifurcation . Advances in Reconfigurable Mechanisms and Robots II , vol. 36 , Springer Nature
Müller A, Zhang K, Dai JS ( 2015 ) . Analysis of the Motion Mode Change of a Metamorphic 8R Linkage . Advances in Reconfigurable Mechanisms and Robots II , vol. 36 , Springer Nature
Liu J, Ding X, Jin Y, Zhang K, Hao G ( 2015 ) . Guest editorial on reconfigurable and deployable mechanisms . Advances in Mechanical Engineering vol. 7 , ( 8 )
Zhang K, Dai JS ( 2015 ) . Screw-System-Variation Enabled Reconfiguration of the Bennett Plano-Spherical Hybrid Linkage and Its Evolved Parallel Mechanism . Journal of Mechanical Design vol. 137 , ( 6 )
Zhang K, Dai JS ( 2016 ) . Reconfiguration of the plane-symmetric double-spherical 6R linkage with bifurcation and trifurcation . Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science . vol. 230 , 473 - 482 .
Zhang K, Qiu C, Dai JS ( 2015 ) . Helical Kirigami-Enabled Centimeter-Scale Worm Robot With Shape-Memory-Alloy Linear Actuators . Journal of Mechanisms and Robotics vol. 7 , ( 2 )
Qiu C, Zhang K, Dai JS ( 2014 ) . Constraint-Based Design and Analysis of a Compliant Parallel Mechanism Using SMA-Spring Actuators . Conference: Volume 5A: 38th Mechanisms and Robotics Conferencev05at08a035 - v05at08a035 .
Zhang K, Qiu C, Dai JS ( 2014 ) . Helical Kirigami-Inspired Centimeter-Scale Worm Robot With Shape-Memory-Alloy Actuators . Conference: Volume 5B: 38th Mechanisms and Robotics Conferencev05bt08a039 - v05bt08a039 .
Zhang K, Qiu C, Dai JS ( 2015 ) . An origami parallel structure integrated deployable continuum robot . Proceedings of the ASME Design Engineering Technical Conference . vol. 5B-2015 ,
Zhang K, Dai JS ( 2015 ) . Reconfiguration analysis of wren platform and its kinematic variants based on reciprocal screw systems . 2015 IFToMM World Congress Proceedings, IFToMM 2015 .
Qiu C, Zhang K, Zhao JS, Dai JS ( 2015 ) . Stiffness design, analysis and validation of a parallel-mechanism equivalent suspension system . Proceedings of the ASME Design Engineering Technical Conference . vol. 5B-2015 ,
Zhang K, Dai JS ( 2014 ) . Trifurcation of the Evolved Sarrus-Motion Linkage Based on Parametric Constraints . Advances in Robot Kinematics , Springer Nature
Salerno M, Zhang K, Menciassi A, Dai JS ( 2014 ) . A Novel 4-DoFs Origami Enabled, SMA Actuated, Robotic End-Effector for Minimally Invasive Surgery . Conference: 2014 IEEE International Conference on Robotics and Automation (ICRA)2844 - 2849 .
Ye W, Fang Y, Zhang K, Guo S ( 2014 ) . A new family of reconfigurable parallel mechanisms with diamond kinematotropic chain . Mechanism and Machine Theory vol. 74 , 1 - 9 .
Zhang K, Dai JS ( 2014 ) . A Kirigami-Inspired 8R Linkage and Its Evolved Overconstrained 6R Linkages With the Rotational Symmetry of Order Two . Journal of Mechanisms and Robotics vol. 6 , ( 2 )
Zhang K, Dai JS ( 2013 ) . Classification of Origami-Enabled Foldable Linkages and Emerging Applications . Conference: Volume 6B: 37th Mechanisms and Robotics Conferencev06bt07a024 - v06bt07a024 .
Emmanouil E, Zhang K, Dai JS ( 2013 ) . Control Strategy and Trajectory Planning for Reconfiguration of a vA Based Metamorphic Parallel Manipulator . Conference: Volume 6B: 37th Mechanisms and Robotics Conferencev06bt07a052 - v06bt07a052 .
Zhang K, Qiu C, Dai JS ( 2014 ) . Helical kirigami-inspired centimeter-scale worm robot with shape-memory-alloy actuators . Proceedings of the ASME Design Engineering Technical Conference . vol. 5B ,
Zhang K, Dai JS ( 2012 ) . A Family of Overconstrained 6R Linkages With the Rotational Symmetry of Order 2 . Conference: Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B1527 - 1534 .
Qin Y, Zhang K, Li J, Dai JS ( 2013 ) . Modelling and analysis of a rigid–compliant parallel mechanism . Robotics and Computer-Integrated Manufacturing vol. 29 , ( 4 ) 33 - 40 .
Zhang K, Dai JS, Fang Y ( 2012 ) . Geometric Constraint and Mobility Variation of Two 3SvPSv Metamorphic Parallel Mechanisms . Journal of Mechanical Design vol. 135 , ( 1 )
Fang H, Fang Y, Zhang K ( 2012 ) . Kinematics and workspace analysis of a novel 3-DOF parallel manipulator with virtual symmetric plane . Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science vol. 227 , ( 3 ) 620 - 629 .
Fang H, Fang Y, Zhang K ( 2012 ) . Reciprocal screw theory based singularity analysis of a novel 3-DOF parallel manipulator . Chinese Journal of Mechanical Engineering vol. 25 , ( 4 ) 647 - 653 .
Zhang K, Fang Y, Wei G, Dai JS ( 2012 ) . Structural Representation of Reconfigurable Linkages . 127 - 137 .
Zhang K, Emmanouil E, Fang Y, Dai JS ( 2012 ) . Type-Changeable Kinematic Pair Evolved Reconfigurable Parallel Mechanisms . 309 - 319 .
Zhang K, Dai JS, Fang Y ( 2011 ) . Geometry and Constraint Based Design of Metamorphic Parallel Mechanisms . Conference: Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B931 - 940 .
Zhang K, Dai JS, Fang Y ( 2012 ) . Constraint analysis and bifurcated motion of the 3PUP parallel mechanism . Mechanism and Machine Theory . vol. 49 , 256 - 269 .
Zhang K, Dai JS ( 2012 ) . Kinematics of an Overconstrained 6R Linkage with 2-Fold Rotational Symmetry . Latest Advances in Robot Kinematics , Springer Nature
Zhang K, Dai JS, Fang Y, Zhu Z-Q ( 2010 ) . Topology and Constraint Analysis of Reconfiguration in Metamorphic Mechanisms . Conference: Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B1689 - 1698 .
Zhang K, Dai JS, Fang Y ( 2010 ) . Topology and Constraint Analysis of Phase Change in the Metamorphic Chain and Its Evolved Mechanism . Journal of Mechanical Design vol. 132 , ( 12 )
Zhang K, Fang Y, Fang H, Dai JS ( 2010 ) . Geometry and Constraint Analysis of the Three-Spherical Kinematic Chain Based Parallel Mechanism . Journal of Mechanisms and Robotics vol. 2 , ( 3 )
LI D ( 2010 ) . Overview and Prospects of Metamorphic Mechanism . Journal of Mechanical Engineering vol. 46 , ( 13 )
Zhang K, Dai JS, Fang Y ( 2009 ) . A new metamorphic mechanism with ability for platform orientation switch and mobility change . Proceedings of the 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2009 . 596 - 602 .
ZHANG K ( 2009 ) . Design and Analyses of a Novel 3-DOF Parallel Mechanism . Journal of Mechanical Engineering vol. 45 , ( 01 )
Huai C, Fang Y, Zhang K ( 2008 ) . Gait Design and Stable Control for a Symmetrical Four-legged Robot on Irregular Terrain . Conference: 2008 7th World Congress on Intelligent Control and Automation7460 - 7465 .
Zhang K, Fang Y, Fang H ( 2007 ) . Design and analysis of a rover mechanism based on the metamorphic principle . Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics vol. 33 , ( 7 ) 838 - 841 .
Zhang K, Fang Y, Huai C ( 2007 ) . Design and kinematics of a novel three DOF parallel manipulator . PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON MECHANICAL ENGINEERING AND MECHANICS 2007, VOLS 1 AND 2 . 624 - 629 .
Huai C, Fang Y, Zhang K ( 2007 ) . Dynamic modeling and hierarchy control for a symmetrical quadruped robot . PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON MECHANICAL ENGINEERING AND MECHANICS 2007, VOLS 1 AND 2 . 652 - 657 .
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