Dr Ketao Zhang
BSc, PhD, FHEA

 

All Publications

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2025

  • Modeling, optimization, and control of a variable stiffness pneumatic rotary joint with soft-rigid hybrid twisting modules
    Jiang Z, Zhang K
    Mechanism and Machine Theory, Elsevier Bv vol. 205, 105899-105899.  
    01-03-2025

2024

  • Development of a Variable-Pitch Flexible-Screw-Driven Continuum Robot (FSDCR) with Motion Decoupling Capability
    Xu Y, Song D, Zhang K, Shi C
    Soft Robotics, Mary Ann Liebert Inc 
    27-11-2024
  • Special Issue: Selected Papers From IDETC-CIE 2023
    Journal of Mechanisms and Robotics, Asme International vol. 16 (11) 
    15-10-2024
  • Capacitive PVC gel pressure sensors with various interlinked microstructural dielectric middle layers
    Liu C, Uddin MH, Zhang K
    Sensors and Actuators a: Physical, Elsevier Bv vol. 374, 115519-115519.  
    01-08-2024
  • A Novel Morphing Quadrotor UAV with Sarrus-Linkage-Based Reconfigurable Frame
    Wang Y, Liu C, Zhang K
    2024 6th International Conference on Reconfigurable Mechanisms and Robots (ReMAR) 23 Jun 2024 - 26 Jun 2024
    23-06-2024
  • Strategies towards large-scale 3D printing without size constraints
    Zuo Z, De Corte W, Huang Y, Chen X, Zhang Y, Li J, Zhang L, Xiao J et al.
    Virtual and Physical Prototyping, Informa Uk Limited vol. 19 (1) 
    02-05-2024
  • A Wearable Finger Tremor-Suppression Orthosis Using the PVC Gel Linear Actuator
    Liu C, Zhang K
    IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE) vol. 9 (4), 3854-3861.  
    01-04-2024
  • Force analysis of a soft-rigid hybrid pneumatic actuator and its application in a bipedal inchworm robot
    Jiang Z, Zhang K
    Robotica, Cambridge University Press (Cup) vol. 42 (5), 1436-1452.  
    07-03-2024
  • Underwater Turbid Media Stokes-Based Polarimetric Recovery
    Wang Z, Hu M, Zhang K
    Sensors, Mdpi Ag vol. 24 (5), 1367-1367.  
    20-02-2024
  • Development of a Pneumatically Actuated Quadruped Robot Using Soft–Rigid Hybrid Rotary Joints
    Jiang Z, Wang Y, Zhang K
    Robotics, Mdpi Ag vol. 13 (2), 24-24.  
    29-01-2024
  • Author Correction: Aerial additive manufacturing with multiple autonomous robots
    Zhang K, Chermprayong P, Xiao F, Tzoumanikas D, Dams B, Kay S, Kocer BB, Burns A et al.
    Nature, Springer Science and Business Media Llc vol. 626 (7998), E5-E5.  
    23-01-2024

2023

  • Propelling the widespread adoption of large-scale 3D printing
    Zuo Z, De Corte W, Huang Y, Chen X, Zhang Y, Li J, Zhang L, Xiao J et al.
    Nature Reviews Materials, Springer Science and Business Media Llc vol. 9 (11), 754-756.  
    24-11-2023
  • An Electric Self‐Sensing and Variable‐Stiffness Artificial Muscle
    Liu C, Busfield JJC, Zhang K
    Advanced Intelligent Systems, Wiley vol. 5 (9) 
    01-09-2023
  • IDETC-CIE2023 Front Matter
    Volume 1: 25th International Conference On Advanced Vehicle Technologies (Avt), American Society of Mechanical Engineers 
    20-08-2023
  • Reaction Force Analysis and Validation of a Rigid Origami-Inspired Modified Wren Parallel Mechanism With Flexure Hinges
    Jiang Z, Zhang K
    ASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 20 Aug 2023 - 23 Aug 2023
    20-08-2023
  • An Electric Self‐Sensing and Variable‐Stiffness Artificial Muscle
    Liu C, Busfield JJC, Zhang K
    Advanced Intelligent Systems, Wiley vol. 5 (9) 
    08-07-2023
  • The Natural Robotics Contest: crowdsourced biomimetic design
    Siddall R, Zufferey R, Armanini S, Zhang K, Sareh S, Sergeev E
    Bioinspiration &Amp; Biomimetics, IOP Publishing vol. 18 (3), 036002-036002.  
    22-03-2023
  • Design of a foldable origami mechanism with helical motion inspired by the Resch Triangular Tessellation
    Liang H, Hao G, Olszewski OZ, Jiang Z, Zhang K
    Mechanism and Machine Theory, Elsevier Bv vol. 179, 105101-105101.  
    01-01-2023

2022

  • Aerial additive manufacturing with multiple autonomous robots
    Zhang K, Chermprayong P, Xiao F, Tzoumanikas D, Dams B, Kay S, Kocer BB, Burns A et al.
    Nature, Springer Science and Business Media Llc vol. 609 (7928), 709-717.  
    21-09-2022
  • A Variable Stiffness Continuum Parallel Manipulator With 3D Printed Pneumatic Artificial Muscles
    Jiang Z, Liu C, Zhang K
    ASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 14 Aug 2022 - 17 Aug 2022
    14-08-2022
  • Learning to sense three-dimensional shape deformation of a single multimode fiber
    Wang X, Wang Y, Zhang K, Althoefer K, Su L
    Scientific Reports, Springer Science and Business Media Llc vol. 12 (1) 
    25-07-2022
  • An Electro-pneumatic Shape Morphing Rolling Robot with Variable Locomotion Modes
    Liu C, Edwards O, Althoefer K, Zhang K, Godaba H
    2022 IEEE 5th International Conference on Soft Robotics (RoboSoft) 4 Apr 2022 - 8 Apr 2022
    04-04-2022

2021

  • A Suite of Robotic Solutions for Nuclear Waste Decommissioning
    Vitanov I, Farkhatdinov I, Denoun B, Palermo F, Otaran A, Brown J, Omarali B, Abrar T et al.
    Robotics, Mdpi Ag vol. 10 (4), 112-112.  
    07-10-2021
  • Design and Kinematic Simulation of a Novel Leg Mechanism for Multi-Legged Robots
    Asci S, Zhang K
    ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 17 Aug 2021 - 19 Aug 2021
    17-08-2021
  • A Novel Torsional Actuator Augmenting Twisting Skeleton and Artificial Muscle for Robots in Extreme Environments
    Jiang Z, Zhang K
    2021 IEEE International Conference on Robotics and Automation (ICRA) 30 May 2021 - 5 Jun 2021
    30-05-2021
  • Design and Analysis of a Novel Reconfigurable Parallel Manipulator With Kirigami-Inspired Bennett Plano-Spherical Linkages and Angular Pouch Motors
    Zhang K, Liu C
    Journal of Mechanisms and Robotics, Asme International vol. 13 (4) 
    19-05-2021
  • 3D printable and fringe electric field adhesion enabled variable stiffness artificial muscles for semi-active vibration attenuation
    Liu C, Li B, Li Z, Cao C, Gao X, Zhang K, Chen H
    Soft Matter, Royal Society of Chemistry (Rsc) vol. 17 (28), 6697-6706.  
    01-01-2021

2020

  • A Two-Fingered Robot Gripper with Variable Stiffness Flexure Hinges Based on Shape Morphing
    Godaba H, Sajad A, Patel N, Althoefer K, Zhang K
    2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 24 Oct 2020 - 24 Jan 2021
    24-10-2020
  • A Type-III Bennett Plano-Spherical Linkage Evolved Parallel Manipulator and Design of a Novel Inflatable Bending Actuator for Reconfiguration
    Zhang K
    THE 4TH INTERNATIONAL CONFERENCE ON FUNDAMENTAL ISSUES, APPLICATIONS AND FUTURE RESEARCH DIRECTIONS FOR PARALLEL MECHANISMS / MANIPULATORS / MACHINES BELFAST, UK 9 Sep 2020 - 11 Sep 2020
    11-09-2020
  • Kinematic modeling and optimization of a new reconfigurable parallel mechanism
    Ye W, Chai X, Zhang K
    Mechanism and Machine Theory, Elsevier Bv vol. 149, 103850-103850.  
    01-07-2020
  • Stiffness Performance Evaluation of 2UPR-RPU Over-constrained Parallel Mechanism
    Yang C, Ye W, Zhang K, Huang F, Zhang W
    Nongye Jixie Xuebao Transactions of The Chinese Society For Agricultural Machinery vol. 51 (2), 392-401.  
    25-02-2020

2019

  • A Design and Fabrication Approach for Pneumatic Soft Robotic Arms Using 3D Printed Origami Skeletons
    Zhang K, Zhu Y, Lou C, Zheng P, Kovac M
    2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) 14 Apr 2019 - 18 Apr 2019
    01-04-2019
  • An Integrated Delta Manipulator for Aerial Repair: A New Aerial Robotic System
    Chermprayong P, Zhang K, Xiao F, Kovac M
    IEEE Robotics &Amp; Automation Magazine, Institute of Electrical and Electronics Engineers (IEEE) vol. 26 (1), 54-66.  
    01-03-2019
  • Kinematics and Performance Analysis of 2R2T Parallel Manipulator with Partially Decoupled Motion
    Ye W, Li Q, Zhang K
    Nongye Jixie Xuebao Transactions of The Chinese Society For Agricultural Machinery vol. 50 (1), 374-382.  
    25-01-2019
  • Designing Origami-Adapted Deployable Modules for Soft Continuum Arms
    Zhang K, Althoefer K
     
    01-01-2019
  • Preface
    Althoefer K, Konstantinova J, Zhang K
     
    01-01-2019

2018

  • Bioinspired design of a landing system with soft shock absorbers for autonomous aerial robots
    Zhang K, Chermprayong P, Tzoumanikas D, Li W, Grimm M, Smentoch M, Leutenegger S, Kovac M
    Journal of Field Robotics, Wiley vol. 36 (1), 230-251.  
    31-10-2018
  • Fully autonomous micro air vehicle flight and landing on a moving target using visual–inertial estimation and model‐predictive control
    Tzoumanikas D, Li W, Grimm M, Zhang K, Kovac M, Leutenegger S
    Journal of Field Robotics, Wiley vol. 36 (1), 49-77.  
    27-10-2018
  • Configuration analysis of a reconfigurable Rubik's snake robot
    Liu J, Zhang X, Zhang K, Dai JS, Li S, Sun Q
    Proceedings of The Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, Sage Publications vol. 233 (9), 3137-3154.  
    06-10-2018
  • Novel spherical-planar and Bennett-spherical 6R metamorphic linkages with reconfigurable motion branches
    Ma X, Zhang K, Dai JS
    Mechanism and Machine Theory, Elsevier Bv vol. 128, 628-647.  
    01-10-2018

2017

  • SpiderMAV: Perching and stabilizing micro aerial vehicles with bio-inspired tensile anchoring systems
    Zhang K, Chermprayong P, Alhinai TM, Siddall R, Kovac M
    2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 24 Sep 2017 - 28 Sep 2017
    01-09-2017
  • Remote three-dimensional printing of polymer structures using drones
    Dams B, Sareh S, Zhang K, Shepherd P, Kovac M, Ball RJ
    Proceedings of The Institution of Civil Engineers - Construction Materials, Emerald, 1-31.  
    14-07-2017

2016

  • Geometric constraints and motion branch variations for reconfiguration of single-loop linkages with mobility one
    Zhang K, Dai JS
    Mechanism and Machine Theory, Elsevier Bv vol. 106, 16-29.  
    01-12-2016
  • Mobility variation of a family of metamorphic parallel mechanisms with reconfigurable hybrid limbs
    Ye W, Fang Y, Zhang K, Guo S
    Robotics and Computer-Integrated Manufacturing, Elsevier Bv vol. 41, 145-162.  
    01-10-2016
  • Force Balance of a Spatial Metamorphic 6R Closed-Chain Linkage With Specific Kinematic Conditions
    van der Wijk V, Zhang K, Dai JS
    ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 21 Aug 2016 - 24 Aug 2016
    21-08-2016
  • Kinematics Analysis and Control of a Three-Fingered Metamorphic Robot Hand
    Calzati M, Zhang K, Parenti Castelli V, Dai JS
    ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 21 Aug 2016 - 24 Aug 2016
    21-08-2016
  • A Novel 4-DOF Origami Grasper With an SMA-Actuation System for Minimally Invasive Surgery
    Salerno M, Zhang K, Menciassi A, Dai JS
    IEEE Transactions On Robotics, Institute of Electrical and Electronics Engineers (IEEE) vol. 32 (3), 484-498.  
    01-06-2016
  • An Extensible Continuum Robot With Integrated Origami Parallel Modules
    Zhang K, Qiu C, Dai JS
    Journal of Mechanisms and Robotics, Asme International vol. 8 (3) 
    07-03-2016
  • Repelling-Screw Based Force Analysis of Origami Mechanisms
    Qiu C, Zhang K, Dai JS
    Journal of Mechanisms and Robotics, Asme International vol. 8 (3) 
    07-03-2016
  • AN ORIGAMI PARALLEL STRUCTURE INTEGRATED DEPLOYABLE CONTINUUM ROBOT
    Zhang K, Qiu C, Dai JS
     
    01-01-2016

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