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
2023

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/acc14b2022

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
Jiang Z,
Liu C and
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,
10.1115/DETC2022-911762021
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
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
Asci S and
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,
10.1115/DETC2021-706422020

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) 
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.1000-1298.2020.02.0432019
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 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.
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.1000-1298.2019.01.0432018
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.2018.05.0012017
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.17.000132016

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
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
Zhang K and 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, (3) 473-482.
10.1177/0954406215584396
Calzati M,
Zhang K, Castelli VP and 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,
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. Proceedings of the ASME Design Engineering Technical Conference vol. 5B-2016,
10.1115/DETC2016-600682015

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, 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/DETC2015466412014

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. Proceedings - IEEE International Conference on Robotics and Automation 2844-2849.
10.1109/ICRA.2014.6907267
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
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
Qiu C,
Zhang K and 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,
10.1115/DETC2014-34605
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_362013

Fang H, Fang Y and
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.
10.1177/0954406212462947
Zhang K and Dai JS (2013).
Classification of origami-enabled foldable linkages and emerging applications. Proceedings of the ASME Design Engineering Technical Conference vol. 6 B,
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. Proceedings of the ASME Design Engineering Technical Conference vol. 6 B,
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
Zhang K, Dai JS and Fang Y (2013).
Geometric constraint and mobility variation of Two 3SvPS v metamorphic parallel mechanisms. Journal of Mechanical Design vol. 135, (1)
10.1115/1.40079202012
Zhang K and 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, (PARTS A AND B) 1527-1534.
10.1115/DETC2012-70544
Zhang K, Fang Y, Wei G and Dai JS (2012).
Structural representation of reconfigurable linkages. Advances in Reconfigurable Mechanisms and Robots I 127-137.
10.1007/978-1-4471-4141-9_13
Zhang K, Emmanouil E, Yuefa F and Dai JS (2012).
Type-changeable kinematic pair evolved reconfigurable parallel mechanisms. Advances in Reconfigurable Mechanisms and Robots I 309-319.
10.1007/978-1-4471-4141-9_28
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 (English Edition) vol. 25, (4) 647-653.
10.3901/CJME.2012.04.6472011
Zhang K, Dai JS and Fang Y (2011).
Geometry and constraint based design of metamorphic parallel mechanisms. Proceedings of the ASME Design Engineering Technical Conference vol. 6, (PARTS A AND B) 931-940.
10.1115/DETC2011-477032010
Zhang K, Dai JS, Fang Y and Zhu ZQ (2010).
Topology and constraint analysis of reconfiguration in metamorphic mechanisms. Proceedings of the ASME Design Engineering Technical Conference vol. 2, (PARTS A AND B) 1689-1698.
10.1115/DETC2010-28434
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
Li D, Zhang Z, Dai J and
Zhang K (2010).
Overview and prospects of metamorphic mechanism. Jixie Gongcheng Xuebao/Journal of Mechanical Engineering vol. 46, (13) 14-21.
10.3901/JME.2010.13.014
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)
10.1115/1.40026912009
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, Fang Y and 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.
10.3901/JME.2009.01.0682008

Huai C, Fang Y and
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.
10.1109/WCICA.2008.45940822007
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.