Dr Ketao Zhang
BSc, PhD, FHEA
All Publications
Page 1 of 2
2025
- Modeling, optimization, and control of a variable stiffness pneumatic rotary joint with soft-rigid hybrid twisting modules
Jiang Z and Zhang K
Mechanism and Machine Theory, Elsevier vol. 205
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 and Shi C
Soft Robotics, Mary Ann Liebert
27-11-2024 - Capacitive PVC gel pressure sensors with various interlinked microstructural dielectric middle layers
Liu C, Uddin MH and Zhang K
Sensors and Actuators a Physical, Elsevier vol. 374
01-08-2024 - A Novel Morphing Quadrotor UAV with Sarrus-Linkage-Based Reconfigurable Frame
Wang Y, Liu C and Zhang K
2024 6th International Conference on Reconfigurable Mechanisms and Robots (ReMAR).
26-06-2024 - 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, Yuan Y, Zhang K and Mechtcherine V
Virtual and Physical Prototyping, Taylor & Francis vol. 19 (1)
02-05-2024 - Force analysis of a soft-rigid hybrid pneumatic actuator and its application in a bipedal inchworm robot
Jiang Z and Zhang K
Robotica, Cambridge University Press (Cup) vol. 42 (5), 1436-1452.
07-03-2024 - A Wearable Finger Tremor-Suppression Orthosis Using the PVC Gel Linear Actuator
Liu C and Zhang K
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE) vol. 9 (4), 3854-3861.
23-02-2024 - Underwater Turbid Media Stokes-Based Polarimetric Recovery
Wang Z, Hu M and Zhang K
Sensors, Mdpi vol. 24 (5)
20-02-2024 - Development of a Pneumatically Actuated Quadruped Robot Using Soft–Rigid Hybrid Rotary Joints
Jiang Z, Wang Y and Zhang K
Robotics, Mdpi vol. 13 (2)
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, 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
Nature, Springer Nature vol. 626 (7998), e5-e5.
23-01-2024
2023
- Propelling the widespread adoption of large-scale 3D printing
Zuo Z, Wouter De C, Huang Y, Chen X, Zhang Y, Li J, Zhang L, Xiao J, Yuan Y, Zhang K and Mechtcherine V
Nature Reviews Materials, Nature Research
24-11-2023 - An Electric Self‐Sensing and Variable‐Stiffness Artificial Muscle
Liu C, Busfield JJC and Zhang K
Advanced Intelligent Systems, Wiley vol. 5 (9)
01-09-2023 - Reaction Force Analysis and Validation of a Rigid Origami-Inspired Modified Wren Parallel Mechanism With Flexure Hinges
Jiang Z and Zhang K
Volume 8: 47th Mechanisms and Robotics Conference (MR).
20-08-2023 - An Electric Self‐Sensing and Variable‐Stiffness Artificial Muscle
Liu C, Busfield JJC and Zhang K
Advanced Intelligent Systems, Wiley
08-07-2023 - The Natural Robotics Contest: crowdsourced biomimetic design
Siddall R, Zufferey R, Armanini S, Zhang K, Sareh S and Sergeev E
Bioinspiration & Biomimetics, IOP Publishing vol. 18 (3)
22-03-2023
2022
- Design of a foldable origami mechanism with helical motion inspired by the Resch Triangular Tessellation
Liang H, Hao G, Olszewski OZ, Jiang Z and Zhang K
Mechanism and Machine Theory, Elsevier vol. 179
02-10-2022 - Aerial Additive Manufacturing with Multiple Autonomous Robots
Zhang K
Nature, Nature Publishing Group
21-09-2022 - A Variable Stiffness Continuum Parallel Manipulator With 3D Printed Pneumatic Artificial Muscles
Jiang Z, Liu C and Zhang K
Volume 7: 46th Mechanisms and Robotics Conference (MR).
14-08-2022 - Learning to sense three-dimensional shape deformation of a single multimode fiber
Wang X, Wang Y, Zhang K, Althoefer K and Su L
Scientific Reports, Nature Research
25-07-2022 - An Electro-pneumatic Shape Morphing Rolling Robot with Variable Locomotion Modes
Liu C, Edwards O, Althoefer K, Zhang K and Godaba H
2022 IEEE 5th International Conference on Soft Robotics (RoboSoft).
08-04-2022
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, Hansard M, Oh C, Poslad S, Liu C, Godaba H, Zhang K, Jamone L and Althoefer K
Robotics vol. 10 (4), 112-112.
07-10-2021 - Design and Kinematic Simulation of a Novel Leg Mechanism for Multi-Legged Robots
Asci S and Zhang K
Volume 8B: 45th Mechanisms and Robotics Conference (MR).
17-08-2021 - A Novel Torsional Actuator Augmenting Twisting Skeleton and Artificial Muscle for Robots in Extreme Environments
Jiang Z and Zhang K
The 2021 International Conference on Robotics and Automation (ICRA 2021) 30 May 2021 - 5 Jun 2021.
30-05-2021 - 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 and Chen H
Soft Matter, Royal Society of Chemistry
27-05-2021 - Design and Analysis of a Novel Reconfigurable Parallel Manipulator with Kirigami-inspired Bennett Plano-Spherical Linkages and Angular Pouch Motors
Zhang K and Liu C
Journal of Mechanisms and Robotics, 1-23.
30-04-2021
2020
- A two-fingered robot gripper with variable stiffness flexure hinges based on shape morphing
Godaba H, Sajad A, Patel N, Althoefer K and Zhang K
2020 IEEE International Conference on Intelligent Robots and Systems.
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
Wei Y, Chai X and Zhang K
Mechanism and Machine Theory, Elsevier
27-02-2020 - Stiffness Performance Evaluation of 2UPR-RPU Over-constrained Parallel Mechanism
Yang C, Ye W, Zhang K, Huang F and Zhang W
Nongye Jixie Xuebao/Transactions of The Chinese Society of Agricultural Machinery, Chinese Society of Agricultural Machinery vol. 51 (2), 392-401.
25-02-2020
2019
- Designing Origami-Adapted Deployable Modules for Soft Continuum Arms
Zhang K and Althoefer K
20th Towards Autonomous Robotic Systems (TAROS 2019) London 3 Jul 2019 - 5 Jul 2019.
07-07-2019 - A Design and Fabrication Approach for Pneumatic Soft Robotic Arms Using 3D Printed Origami Skeletons
Zhang K, Zhu Y, Lou C, Zheng P and Kovač M
2019 2nd IEEE International Conference on Soft Robotics (RoboSoft).
14-04-2019 - An Integrated Delta Manipulator for Aerial Repair: A New Aerial Robotic System
Chermprayong P, ZHANG K, Xiao F and Kovac M
IEEE Robotics and Automation Magazine, Institute of Electrical and Electronics Engineers
13-02-2019 - Kinematics and Performance Analysis of 2R2T Parallel Manipulator with Partially Decoupled Motion
Ye W, Li Q and Zhang K
Nongye Jixie Xuebao/Transactions of The Chinese Society For Agricultural Machinery vol. 50 (1), 374-382.
25-01-2019 - Preface
Althoefer K, Konstantinova J and 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 and Kovac M
Journal of Field Robotics
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 and Leutenegger S
Journal of Field Robotics
27-10-2018 - Configuration analysis of a reconfigurable Rubik's snake robot
Liu J, Zhang X, ZHANG K, Dai JS, Li S and Sun Q
Proceedings of The Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
06-10-2018 - Novel spherical-planar and Bennett-spherical 6R metamorphic linkages with reconfigurable motion branches
Ma X, Zhang K and Dai JS
Mechanism and Machine Theory vol. 128, 628-647.
20-07-2018
2017
- SpiderMAV: Perching and stabilizing micro aerial vehicles with bio-inspired tensile anchoring systems
Zhang K, Chermprayong P, Alhinai TM, Siddall R and Kovac M
IROS2017.
13-12-2017 - Remote three-dimensional printing of polymer structures using drones
Dams B, Sareh S, Zhang K, Shepherd P, Kovac M and Ball RJ
Proceedings of The Institution of Civil Engineers - Construction Materials, 1-31.
14-07-2017
2016
- Mobility variation of a family of metamorphic parallel mechanisms with reconfigurable hybrid limbs
Ye W, Fang Y, Zhang K and Guo S
Robotics and Computer-Integrated Manufacturing vol. 41, 145-162.
01-10-2016 - Geometric constraints and motion branch variations for reconfiguration of single-loop linkages with mobility one
Zhang K and Dai JS
Mechanism and Machine Theory vol. 106, 16-29.
01-09-2016 - Force Balance of a Spatial Metamorphic 6R Closed-Chain Linkage With Specific Kinematic Conditions
van der Wijk V, Zhang K and Dai JS
Volume 5B: 40th Mechanisms and Robotics Conference.
21-08-2016 - Kinematics Analysis and Control of a Three-Fingered Metamorphic Robot Hand
Calzati M, Zhang K, Castelli VP and Dai JS
Volume 5B: 40th Mechanisms and Robotics Conference.
21-08-2016 - A Novel 4-DOF Origami Grasper With an SMA-Actuation System for Minimally Invasive Surgery
Salerno M, Zhang K, Menciassi A and Dai JS
IEEE Transactions On Robotics vol. 32 (3), 484-498.
01-06-2016 - Repelling-screw based force analysis of origami mechanisms
Qiu C, Zhang K and Dai JS
Journal of Mechanisms and Robotics vol. 8 (3)
01-06-2016 - An extensible continuum robot with integrated origami parallel modules
Zhang K, Qiu C and Dai JS
Journal of Mechanisms and Robotics vol. 8 (3)
07-03-2016
2015
- A Novel Reconfigurable 7R Linkage with Multifurcation
Zhang K, Müller A and Dai JS
In Advances in Reconfigurable Mechanisms and Robots II, Springer Nature 15-25.
24-11-2015 - Analysis of the Motion Mode Change of a Metamorphic 8R Linkage
Müller A, Zhang K and Dai JS
In Advances in Reconfigurable Mechanisms and Robots II, Springer Nature 39-47.
24-11-2015 - An Origami Parallel Structure Integrated Deployable Continuum Robot
Zhang K, Qiu C and Dai JS
Volume 5B: 39th Mechanisms and Robotics Conference.
02-08-2015