Dr Ketao Zhang

Ketao ZhangBSc, PhD, FHEA

Lecturer in Robotics

School of Engineering and Materials Science
Queen Mary University of London
+44 (0)20 7882 5183

www.sems.qmul.ac.uk/research/groups/robotic-systems/

Research

Parallel robots, Robot kinematics and dynamics, Reconfigurable mechanisms and robots, Aerial Robotics, Soft Robotics

Interests

Screw Theory and Screw Algebra, Reconfigurable Mechanisms and Robotics, Aerial Robotics, Robotic Grasping, Biologically-inspired Robots, Mobile Robot and Soft Robot Application.

Publications

Publications of specific relevance to Advanced Robotics

2024

Jiang Z and Zhang K (2024). Force analysis of a soft-rigid hybrid pneumatic actuator and its application in a bipedal inchworm robot. Robotica  1-17. 10.1017/s0263574724000298
Liu C and Zhang K (2024). A Wearable Finger Tremor-Suppression Orthosis Using the PVC Gel Linear Actuator. IEEE Robotics and Automation Letters  vol. PP, (99) 1-8. 10.1109/lra.2024.3369492
Wang Z, Hu M and Zhang K (2024). Underwater Turbid Media Stokes-Based Polarimetric Recovery. Sensors  vol. 24, (5) 10.3390/s24051367
Jiang Z, Wang Y and Zhang K (2024). Development of a Pneumatically Actuated Quadruped Robot Using Soft–Rigid Hybrid Rotary Joints. Robotics  vol. 13, (2) 10.3390/robotics13020024
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  vol. 626, (7998) e5-e5. 10.1038/s41586-024-07030-x

2023

Zuo Z, Wouter De C, Huang Y, Chen X, Zhang Y, Li J, Zhang L, Xiao J, Yuan Y, Zhang K and Mechtcherine V (2023). Propelling the widespread adoption of large-scale 3D printing. Nature Reviews Materials  10.1038/s41578-023-00626-1
Liu C, Busfield JJC and Zhang K (2023). An Electric Self‐Sensing and Variable‐Stiffness Artificial Muscle. Advanced Intelligent Systems  vol. 5, (9) 10.1002/aisy.202370037
Jiang Z and Zhang K (2023). Reaction Force Analysis and Validation of a Rigid Origami-Inspired Modified Wren Parallel Mechanism With Flexure Hinges. ASME International Conference: Volume 8: 47th Mechanisms and Robotics Conference (MR)  10.1115/detc2023-115262
(2023). IDETC-CIE2023 Front Matter. ASME International 10.1115/detc2023-fm1
Liu C, Busfield JJC and Zhang K (2023). An Electric Self‐Sensing and Variable‐Stiffness Artificial Muscle. Advanced Intelligent Systems  10.1002/aisy.202300131
Siddall R, Zufferey R, Armanini S, Zhang K, Sareh S and Sergeev E (2023). The Natural Robotics Contest: crowdsourced biomimetic design. Bioinspiration & Biomimetics  vol. 18, (3) 10.1088/1748-3190/acc14b

2022

Liang H, Hao G, Olszewski OZ, Jiang Z and Zhang K (2022). Design of a foldable origami mechanism with helical motion inspired by the Resch Triangular Tessellation. Mechanism and Machine Theory  vol. 179, 10.1016/j.mechmachtheory.2022.105101
Zhang K (2022). Aerial Additive Manufacturing with Multiple Autonomous Robots. Nature  10.1038/s41586-022-04988-4
Jiang Z, Liu C and Zhang K (2022). A Variable Stiffness Continuum Parallel Manipulator With 3D Printed Pneumatic Artificial Muscles. ASME International Conference: Volume 7: 46th Mechanisms and Robotics Conference (MR)  10.1115/detc2022-91176
Wang X, Wang Y, Zhang K, Althoefer K and Su L (2022). Learning to sense three-dimensional shape deformation of a single multimode fiber. Scientific Reports  10.1038/s41598-022-15781-8
Liu C, Edwards O, Althoefer K, Zhang K and Godaba H (2022). An Electro-pneumatic Shape Morphing Rolling Robot with Variable Locomotion Modes. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)  10.1109/robosoft54090.2022.9762154

2021

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. 10.3390/robotics10040112
Asci S and Zhang K (2021). Design and Kinematic Simulation of a Novel Leg Mechanism for Multi-Legged Robots. ASME International Conference: Volume 8B: 45th Mechanisms and Robotics Conference (MR)  10.1115/detc2021-70642
Jiang Z and 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  vol. 2021-May, 9318-9324. Conference: The 2021 International Conference on Robotics and Automation (ICRA 2021)  10.1109/ICRA48506.2021.9561957
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  10.1039/d1sm00618e
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. 10.1115/1.4050996

2020

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. IEEE International Conference on Intelligent Robots and Systems  8716-8721. Conference: 2020 IEEE International Conference on Intelligent Robots and Systems  10.1109/IROS45743.2020.9341554
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) 
Wei Y, Chai X and Zhang K (2020). Kinematic Modeling and Optimization of a New Reconfigurable Parallel Mechanism. Mechanism and Machine Theory  10.1016/j.mechmachtheory.2020.103850
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  vol. 51, (2) 392-401. 10.6041/j.issn.1000-1298.2020.02.043

2019

Zhang K and 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 Bioinformat  vol. 11649 LNAI, 138-147. Conference: 20th Towards Autonomous Robotic Systems (TAROS 2019) (London)  10.1007/978-3-030-23807-0_12
Zhang K, Zhu Y, Lou C, Zheng P and Kova? M (2019). A Design and Fabrication Approach for Pneumatic Soft Robotic Arms Using 3D Printed Origami Skeletons. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)  10.1109/robosoft.2019.8722719
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  10.1109/MRA.2018.2888911
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. 10.6041/j.issn.1000-1298.2019.01.043
Althoefer K, Konstantinova J and Zhang K (2019). Preface.

2018

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  10.1002/rob.21840
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  10.1002/rob.21821
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  10.1177/0954406218805112
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. 10.1016/j.mechmachtheory.2018.05.001

2017

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. IEEE International Conference on Intelligent Robots and Systems  vol. 2017-September, 6849-6854. Conference: IROS2017  10.1109/IROS.2017.8206606
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. 10.1680/jcoma.17.00013

2016

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. 10.1016/j.rcim.2016.03.006
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. 10.1016/j.mechmachtheory.2016.08.006
Calzati M, Zhang K, Castelli VP and Dai JS (2016). Kinematics Analysis and Control of a Three-Fingered Metamorphic Robot Hand. ASME International Conference: Volume 5B: 40th Mechanisms and Robotics Conference  10.1115/detc2016-59491
van der Wijk V, Zhang K and Dai JS (2016). Force Balance of a Spatial Metamorphic 6R Closed-Chain Linkage With Specific Kinematic Conditions. ASME International Conference: Volume 5B: 40th Mechanisms and Robotics Conference  10.1115/detc2016-60068
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. 10.1109/TRO.2016.2539373
Qiu C, Zhang K and Dai JS (2016). Repelling-screw based force analysis of origami mechanisms. Journal of Mechanisms and Robotics  vol. 8, (3) 10.1115/1.4031458
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) 10.1115/1.4031808

2015

Zhang K, Müller A and Dai JS (2015). A Novel Reconfigurable 7R Linkage with Multifurcation. Advances in Reconfigurable Mechanisms and Robots II  Springer Nature 10.1007/978-3-319-23327-7_2
Müller A, Zhang K and Dai JS (2015). Analysis of the Motion Mode Change of a Metamorphic 8R Linkage. Advances in Reconfigurable Mechanisms and Robots II  Springer Nature 10.1007/978-3-319-23327-7_4
Qiu C, Zhang K, Zhao JS and Dai JS (2015). Stiffness Design, Analysis and Validation of a Parallel-Mechanism Equivalent Suspension System. ASME International Conference: Volume 5B: 39th Mechanisms and Robotics Conference  10.1115/detc2015-46641
Zhang K, Qiu C and Dai JS (2015). An Origami Parallel Structure Integrated Deployable Continuum Robot. ASME International Conference: Volume 5B: 39th Mechanisms and Robotics Conference  10.1115/detc2015-46504
Liu J, Ding X, Jin Y, Zhang K and Hao G (2015). Guest editorial on reconfigurable and deployable mechanisms. Advances in Mechanical Engineering  vol. 7, (8) 10.1177/1687814015593884
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  vol. 137, (6) 10.1115/1.4030015
Zhang K and Dai JS (2015). 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, (3) 473-482. 10.1177/0954406215584396
Zhang K, Qiu C and Dai JS (2015). Helical Kirigami-Enabled Centimeter-Scale Worm Robot With Shape-Memory-Alloy Linear Actuators. Journal of Mechanisms and Robotics  vol. 7, (2) 10.1115/1.4029494
Zhang K and Dai JS (2015). Reconfiguration analysis of wren platform and its kinematic variants based on reciprocal screw systems. 2015 IFToMM World Congress Proceedings, IFToMM 2015  10.6567/IFToMM.14TH.WC.OS8.022
Zhang K, Qiu C and Dai JS (2015). An origami parallel structure integrated deployable continuum robot. Proceedings of the ASME Design Engineering Technical Conference  vol. 5B-2015, 10.1115/DETC201546504
Qiu C, Zhang K, Zhao JS and 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, 10.1115/DETC201546641

2014

Qiu C, Zhang K and Dai JS (2014). Constraint-Based Design and Analysis of a Compliant Parallel Mechanism Using SMA-Spring Actuators. ASME International Conference: Volume 5A: 38th Mechanisms and Robotics Conference  10.1115/detc2014-34605
Zhang K, Qiu C and Dai JS (2014). Helical Kirigami-Inspired Centimeter-Scale Worm Robot With Shape-Memory-Alloy Actuators. ASME International Conference: Volume 5B: 38th Mechanisms and Robotics Conference  10.1115/detc2014-34676
Salerno M, Zhang K, Menciassi A and Dai JS (2014). A Novel 4-DoFs Origami Enabled, SMA Actuated, Robotic End-Effector for Minimally Invasive Surgery. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2014 IEEE International Conference on Robotics and Automation (ICRA)  10.1109/icra.2014.6907267
Ye W, Fang Y, Zhang K and Guo S (2014). A new family of reconfigurable parallel mechanisms with diamond kinematotropic chain. Mechanism and Machine Theory  vol. 74, 1-9. 10.1016/j.mechmachtheory.2013.11.011
Zhang K and 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) 10.1115/1.4026337
Zhang K, Qiu C and 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, 10.1115/DETC201434676
Zhang K and Dai JS (2014). Trifurcation of the Evolved Sarrus-Motion Linkage Based on Parametric Constraints. Advances in Robot Kinematics  Springer Nature 10.1007/978-3-319-06698-1_36

2013

Zhang K and Dai JS (2013). Classification of Origami-Enabled Foldable Linkages and Emerging Applications. ASME International Conference: Volume 6B: 37th Mechanisms and Robotics Conference  10.1115/detc2013-12227
Emmanouil E, Zhang K and Dai JS (2013). Control Strategy and Trajectory Planning for Reconfiguration of a vA Based Metamorphic Parallel Manipulator. ASME International Conference: Volume 6B: 37th Mechanisms and Robotics Conference  10.1115/detc2013-12445
Qin Y, Zhang K, Li J and Dai JS (2013). Modelling and analysis of a rigid–compliant parallel mechanism. Robotics and Computer-Integrated Manufacturing  vol. 29, (4) 33-40. 10.1016/j.rcim.2012.10.004

2012

Zhang K, Dai JS and Fang Y (2012). Geometric Constraint and Mobility Variation of Two 3SvPSv Metamorphic Parallel Mechanisms. Journal of Mechanical Design  vol. 135, (1) 10.1115/1.4007920
Fang H, Fang Y and 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. 10.1177/0954406212462947
Zhang K and Dai JS (2012). A Family of Overconstrained 6R Linkages With the Rotational Symmetry of Order 2. ASME International Conference: Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B  10.1115/detc2012-70544
Fang H, Fang Y and 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. 10.3901/cjme.2012.04.647
Zhang K, Dai JS and Fang Y (2012). Constraint analysis and bifurcated motion of the 3PUP parallel mechanism. Mechanism and Machine Theory  vol. 49, 256-269. 10.1016/j.mechmachtheory.2011.10.004
Zhang K and Dai JS (2012). Kinematics of an Overconstrained 6R Linkage with 2-Fold Rotational Symmetry. Latest Advances in Robot Kinematics  Springer Nature 10.1007/978-94-007-4620-6_29
Zhang K, Fang Y, Wei G and Dai JS (2012). Structural Representation of Reconfigurable Linkages. Springer Nature 10.1007/978-1-4471-4141-9_13
Zhang K, Emmanouil E, Fang Y and Dai JS (2012). Type-Changeable Kinematic Pair Evolved Reconfigurable Parallel Mechanisms. Springer Nature 10.1007/978-1-4471-4141-9_28

2011

Zhang K, Dai JS and Fang Y (2011). Geometry and Constraint Based Design of Metamorphic Parallel Mechanisms. ASME International Conference: Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B  10.1115/detc2011-47703

2010

Zhang K, Dai JS and 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) 10.1115/1.4002691
Zhang K, Fang Y, Fang H and Dai JS (2010). Geometry and Constraint Analysis of the Three-Spherical Kinematic Chain Based Parallel Mechanism. Journal of Mechanisms and Robotics  vol. 2, (3) 10.1115/1.4001783
Zhang K, Dai JS, Fang Y and Zhu Z-Q (2010). Topology and Constraint Analysis of Reconfiguration in Metamorphic Mechanisms. ASME International Conference: Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B  10.1115/detc2010-28434
LI D (2010). Overview and Prospects of Metamorphic Mechanism. Journal of Mechanical Engineering  vol. 46, (13) 10.3901/jme.2010.13.014

2009

Zhang K, Dai JS and 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) 10.3901/jme.2009.01.068

2008

Huai C, Fang Y and Zhang K (2008). Gait Design and Stable Control for a Symmetrical Four-legged Robot on Irregular Terrain. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2008 7th World Congress on Intelligent Control and Automation  10.1109/wcica.2008.4594082

2007

Zhang K, Fang Y and 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.
Huai C, Fang Y and 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.
Zhang K, Fang Y and 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.

Grants

Grants of specific relevance to Advanced Robotics
Electroadhesion for Perching and Resting Quadrotor Unmanned Aerial Vehicles on Various Surfaces
Zhang K
£12,000 Royal Society (31-03-2022 - 30-03-2024)
QMUL EPSRC Core Equipment Bid: Q-Arena - a multidisciplinary research environment for human-centred robotics and interactive engineering
Wang W, Farkhatdinov I and Zhang K
£129,000 Engineering and Physical Sciences Research Council (01-10-2020 - 30-09-2022)


Electroadhesion for anchoring robots in challenging environments
Zhang K
£77,000 Engineering and Physical Sciences Research Council (01-10-2021 - 31-03-2022)
Computational Design and Control of Quadruped Robots with Bio-inspired Leg Mechanisms for Dynamic Locomotion in Challenging Terrain
Zhang K
Royal Society (31-03-2021 - 30-03-2022)
Research on Integrated Design Method and Driving Configuration of Reconfigurable Variable Cell Parallel Manipulator
Zhang K
USD40,386 National Natural Science Foundation of China (01-01-2013 - 31-12-2015)
Summary