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

Publications: Dr Ketao Zhang

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Siddall R, Zufferey R, Armanini S, Zhang K, Sareh S, Sergeev E ( 2022 ) . The Natural Robotics Contest: Crowdsourced Biomimetic Design .
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
Jiang Z, Liu C, Zhang K ( 2022 ) . A VARIABLE STIFFNESS CONTINUUM PARALLEL MANIPULATOR WITH 3D PRINTED PNEUMATIC ARTIFICIAL MUSCLES . Proceedings of the ASME Design Engineering Technical Conference . vol. 7 ,
Liu C, Edwards O, Althoefer K, Zhang K, Godaba H ( 2022 ) . An Electro-pneumatic Shape Morphing Rolling Robot with Variable Locomotion Modes . 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022 . 715 - 721 .
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 .
Asci S, Zhang K ( 2021 ) . Design and kinematic simulation of a novel leg mechanism for multi-legged robots . Proceedings of the ASME Design Engineering Technical Conference . vol. 8B-2021 ,
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, Kovac M ( 2019 ) . A design and fabrication approach for pneumatic soft robotic arms using 3D printed origami skeletons . RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics . 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 .
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, 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, Müller A, Dai JS ( 2016 ) . A novel reconfigurable 7R linkage with Multifurcation . Mechanisms and Machine Science , vol. 36 ,
Müller A, Zhang K, Dai JS ( 2016 ) . Analysis of the motion mode change of a metamorphic 8R linkage . vol. 36 ,
Van Der Wijk V, Zhang K, Dai JS ( 2016 ) . Force balance of a spatial metamorphic 6R closed-chain linkage with specific kinematic conditions . Proceedings of the ASME Design Engineering Technical Conference . vol. 5B-2016 ,
Calzati M, Zhang K, Castelli VP, Dai JS ( 2016 ) . Kinematics analysis and control of a three-fingered metamorphic robot hand . Proceedings of the ASME Design Engineering Technical Conference . vol. 5B-2016 ,
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 .
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, Transactions of the ASME vol. 137 , ( 6 )
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, 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 )
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 ,
Salerno M, Zhang K, Menciassi A, Dai JS ( 2014 ) . A novel 4-DOFs origami enabled, SMA actuated, robotic end-effector for minimally invasive surgery . Proceedings - IEEE International Conference on Robotics and Automation . 2844 - 2849 .
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, Dai JS ( 2014 ) . Trifurcation of the Evolved Sarrus-Motion Linkage Based on Parametric Constraints . Advances in Robot Kinematics ,
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 )
Qiu C, Zhang K, Dai JS ( 2014 ) . Constraint-based design and analysis of a compliant parallel mechanism using sma-spring actuators . Proceedings of the ASME Design Engineering Technical Conference . vol. 5A ,
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 ,
Fang H, Fang Y, Zhang K ( 2013 ) . 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 .
Zhang K, Dai JS ( 2013 ) . Classification of origami-enabled foldable linkages and emerging applications . Proceedings of the ASME Design Engineering Technical Conference . vol. 6 B ,
Emmanouil E, Zhang K, Dai JS ( 2013 ) . Control strategy and trajectory planning for reconfiguration of a vA based metamorphic parallel manipulator . Proceedings of the ASME Design Engineering Technical Conference . vol. 6 B ,
Zhang K, Dai JS, Fang Y ( 2013 ) . Geometric constraint and mobility variation of Two 3S<inf>v</inf>PS <inf>v</inf> metamorphic parallel mechanisms . Journal of Mechanical Design, Transactions of the ASME vol. 135 , ( 1 )
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 ( 2012 ) . A family of overconstrained 6R linkages with the rotational symmetry of order 2 . Proceedings of the ASME Design Engineering Technical Conference . vol. 4 , 1527 - 1534 .
Zhang K, Fang Y, Wei G, Dai JS ( 2012 ) . Structural representation of reconfigurable linkages . Advances in Reconfigurable Mechanisms and Robots I . 127 - 137 .
Zhang K, Emmanouil E, Yuefa F, Dai JS ( 2012 ) . Type-changeable kinematic pair evolved reconfigurable parallel mechanisms . Advances in Reconfigurable Mechanisms and Robots I . 309 - 319 .
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 (English Edition) vol. 25 , ( 4 ) 647 - 653 .
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 ,
Zhang K, Dai JS, Fang Y ( 2011 ) . Geometry and constraint based design of metamorphic parallel mechanisms . Proceedings of the ASME Design Engineering Technical Conference . vol. 6 , 931 - 940 .
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, Transactions of the ASME vol. 132 , ( 12 )
Zhang K, Dai JS, Fang Y, Zhu ZQ ( 2010 ) . Topology and constraint analysis of reconfiguration in metamorphic mechanisms . Proceedings of the ASME Design Engineering Technical Conference . vol. 2 , 1689 - 1698 .
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, Zhang Z, Dai J, Zhang K ( 2010 ) . Overview and prospects of metamorphic mechanism . Jixie Gongcheng Xuebao/Journal of Mechanical Engineering vol. 46 , ( 13 ) 14 - 21 .
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, Fang Y, Guo S ( 2009 ) . Design and analyses of a novel 3-DOF parallel mechanism . Jixie Gongcheng Xuebao/Journal of Mechanical Engineering vol. 45 , ( 1 ) 68 - 72 .
Huai C, Fang Y, Zhang K ( 2008 ) . Gait design and stable control for a symmetrical four-legged robot on irregular terrain . Proceedings of the World Congress on Intelligent Control and Automation (WCICA) . 7460 - 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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