Dr Ketao Zhang


All Publications

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    • Jiang Z and Zhang K (2024). Force analysis of a soft-rigid hybrid pneumatic actuator and its application in a bipedal inchworm robot. Robotica, Cambridge University Press (Cup), 1-17.  
    • Liu C and Zhang K (2024). A Wearable Finger Tremor-Suppression Orthosis Using the PVC Gel Linear Actuator. Ieee Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (Ieee) vol. PP (99), 1-8.  
    • Wang Z, Hu M and Zhang K (2024). Underwater Turbid Media Stokes-Based Polarimetric Recovery. Sensors, Mdpi vol. 24 (5) 
    • Jiang Z, Wang Y and Zhang K (2024). Development of a Pneumatically Actuated Quadruped Robot Using Soft–Rigid Hybrid Rotary Joints. Robotics, Mdpi vol. 13 (2) 
    • Zhang K, Chermprayong P, Xiao F, Tzoumanikas D, Dams B, Kay S, Kocer BB, Burns A, Orr L, Alhinai T, Choi C, Darekar DD, Li W, Hirschmann S, Soana V, Ngah SA, Grillot C, Sareh S, Choubey A, Margheri L, Pawar VM, Ball RJ, Williams C, Shepherd P, Leutenegger S, Stuart-Smith R and Kovac M (2024). Author Correction: Aerial additive manufacturing with multiple autonomous robots. Nature, Springer Nature vol. 626 (7998), e5-e5.  




    • Vitanov I, Farkhatdinov I, Denoun B, Palermo F, Otaran A, Brown J, Omarali B, Abrar T, Hansard M, Oh C, Poslad S, Liu C, Godaba H, Zhang K, Jamone L and Althoefer K (2021). A Suite of Robotic Solutions for Nuclear Waste Decommissioning. Robotics vol. 10 (4), 112-112.  
    • Asci S and Zhang K (2021). Design and Kinematic Simulation of a Novel Leg Mechanism for Multi-Legged Robots. Volume 8B: 45th Mechanisms and Robotics Conference (MR)
    • Jiang Z and Zhang K (2021). A Novel Torsional Actuator Augmenting Twisting Skeleton and Artificial Muscle for Robots in Extreme Environments. The 2021 International Conference on Robotics and Automation (ICRA 2021) 30 May 2021 - 5 Jun 2021
    • Liu C, Li B, Li Z, Cao C, Gao X, Zhang K and Chen H (2021). 3D printable and fringe electric field adhesion enabled variable stiffness artificial muscles for semi-active vibration attenuation. Soft Matter, Royal Society of Chemistry 
    • Zhang K and 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 Robotics, 1-23.  


    • Godaba H, Sajad A, Patel N, Althoefer K and Zhang K (2020). A two-fingered robot gripper with variable stiffness flexure hinges based on shape morphing. 2020 IEEE International Conference on Intelligent Robots and Systems
    • Zhang K (2020). A Type-III Bennett Plano-Spherical Linkage Evolved Parallel Manipulator and Design of a Novel Inflatable Bending Actuator for Reconfiguration. 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
    • Wei Y, Chai X and Zhang K (2020). Kinematic Modeling and Optimization of a New Reconfigurable Parallel Mechanism. Mechanism and Machine Theory, Elsevier 
    • Yang C, Ye W, Zhang K, Huang F and Zhang W (2020). Stiffness Performance Evaluation of 2UPR-RPU Over-constrained Parallel Mechanism. Nongye Jixie Xuebao/Transactions of The Chinese Society of Agricultural Machinery, Chinese Society of Agricultural Machinery vol. 51 (2), 392-401.  


    • Zhang K and Althoefer K (2019). Designing Origami-Adapted Deployable Modules for Soft Continuum Arms. 20th Towards Autonomous Robotic Systems (TAROS 2019) London 3 Jul 2019 - 5 Jul 2019
    • Zhang K, Zhu Y, Lou C, Zheng P and Kovač M (2019). A Design and Fabrication Approach for Pneumatic Soft Robotic Arms Using 3D Printed Origami Skeletons. 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)
    • Chermprayong P, ZHANG K, Xiao F and Kovac M (2019). An Integrated Delta Manipulator for Aerial Repair: A New Aerial Robotic System. Ieee Robotics and Automation Magazine, Institute of Electrical and Electronics Engineers 
    • Ye W, Li Q and 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 and Zhang K (2019). Preface. 


    • Zhang K, Chermprayong P, Tzoumanikas D, Li W, Grimm M, Smentoch M, Leutenegger S and 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 and 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 and 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 and 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 and Kovac M (2017). SpiderMAV: Perching and stabilizing micro aerial vehicles with bio-inspired tensile anchoring systems. IROS2017
    • Dams B, Sareh S, Zhang K, Shepherd P, Kovac M and Ball RJ (2017). Remote three-dimensional printing of polymer structures using drones. Proceedings of The Institution of Civil Engineers - Construction Materials, 1-31.  


    • Ye W, Fang Y, Zhang K and Guo S (2016). Mobility variation of a family of metamorphic parallel mechanisms with reconfigurable hybrid limbs. Robotics and Computer-Integrated Manufacturing vol. 41, 145-162.  
    • Zhang K and Dai JS (2016). Geometric constraints and motion branch variations for reconfiguration of single-loop linkages with mobility one. Mechanism and Machine Theory vol. 106, 16-29.  
    • van der Wijk V, Zhang K and Dai JS (2016). Force Balance of a Spatial Metamorphic 6R Closed-Chain Linkage With Specific Kinematic Conditions. Volume 5B: 40th Mechanisms and Robotics Conference
    • Calzati M, Zhang K, Castelli VP and Dai JS (2016). Kinematics Analysis and Control of a Three-Fingered Metamorphic Robot Hand. Volume 5B: 40th Mechanisms and Robotics Conference
    • Salerno M, Zhang K, Menciassi A and 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 and Dai JS (2016). Repelling-screw based force analysis of origami mechanisms. Journal of Mechanisms and Robotics vol. 8 (3) 
    • Zhang K, Qiu C and Dai JS (2016). An extensible continuum robot with integrated origami parallel modules. Journal of Mechanisms and Robotics vol. 8 (3) 


    • Zhang K, Müller A and Dai JS (2015). A Novel Reconfigurable 7R Linkage with Multifurcation. In Advances in Reconfigurable Mechanisms and Robots II, Springer Nature 15-25.  
    • Müller A, Zhang K and Dai JS (2015). Analysis of the Motion Mode Change of a Metamorphic 8R Linkage. In Advances in Reconfigurable Mechanisms and Robots II, Springer Nature 39-47.  
    • Zhang K, Qiu C and Dai JS (2015). An Origami Parallel Structure Integrated Deployable Continuum Robot. Volume 5B: 39th Mechanisms and Robotics Conference
    • Qiu C, Zhang K, Zhao JS and Dai JS (2015). Stiffness Design, Analysis and Validation of a Parallel-Mechanism Equivalent Suspension System. Volume 5B: 39th Mechanisms and Robotics Conference
    • Liu J, Ding X, Jin Y, Zhang K and Hao G (2015). Guest editorial on reconfigurable and deployable mechanisms. Advances in Mechanical Engineering, Sage Publications vol. 7 (8) 
    • Zhang K and Dai JS (2015). Screw-System-Variation Enabled Reconfiguration of the Bennett Plano-Spherical Hybrid Linkage and Its Evolved Parallel Mechanism. Journal of Mechanical Design, Asme International vol. 137 (6) 
    • Zhang K and Dai JS (2015). Reconfiguration of the plane-symmetric double-spherical 6R linkage with bifurcation and trifurcation. 

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