Skip to main content
Research
  1. Queen Mary University of London
  2. Research
  3. Publications

Publications: P Ketao Zhang

Back to Search
( 2025 ) . Modeling, optimization, and control of a variable stiffness pneumatic rotary joint with soft-rigid hybrid twisting modules . Mechanism and Machine Theory vol. 205 , Article 105899 , 105899 - 105899 .
( 2024 ) . Development of a Variable-Pitch Flexible-Screw-Driven Continuum Robot (FSDCR) with Motion Decoupling Capability . Soft Robotics Article soro.2024.0014 ,
( 2024 ) . Special Issue: Selected Papers From IDETC-CIE 2023 . Journal of Mechanisms and Robotics vol. 16 , ( 11 ) Article 110301 ,
( 2024 ) . Capacitive PVC gel pressure sensors with various interlinked microstructural dielectric middle layers . Sensors and Actuators A: Physical vol. 374 , Article 115519 , 115519 - 115519 .
( 2024 ) . A Novel Morphing Quadrotor UAV with Sarrus-Linkage-Based Reconfigurable Frame . 2024 6th International Conference on Reconfigurable Mechanisms and Robots (ReMAR) . Conference: 2024 6th International Conference on Reconfigurable Mechanisms and Robots (ReMAR) from: 23/06/2024 to: 26/06/2024 , 283 - 289 .
( 2024 ) . Strategies towards large-scale 3D printing without size constraints . Virtual and Physical Prototyping vol. 19 , ( 1 ) Article e2346821 ,
( 2024 ) . A Wearable Finger Tremor-Suppression Orthosis Using the PVC Gel Linear Actuator . IEEE Robotics and Automation Letters vol. 9 , ( 4 ) 3854 - 3861 .
( 2024 ) . Force analysis of a soft-rigid hybrid pneumatic actuator and its application in a bipedal inchworm robot . Robotica vol. 42 , ( 5 ) 1436 - 1452 .
( 2024 ) . Underwater Turbid Media Stokes-Based Polarimetric Recovery . Sensors vol. 24 , ( 5 ) 1367 - 1367 .
( 2024 ) . Development of a Pneumatically Actuated Quadruped Robot Using Soft–Rigid Hybrid Rotary Joints . Robotics vol. 13 , ( 2 ) 24 - 24 .
( 2024 ) . Author Correction: Aerial additive manufacturing with multiple autonomous robots . Nature vol. 626 , ( 7998 ) E5 - E5 .
( 2023 ) . Propelling the widespread adoption of large-scale 3D printing . Nature Reviews Materials vol. 9 , ( 11 ) 754 - 756 .
( 2023 ) . IDETC-CIE2023 Front Matter . Volume 1: 25th International Conference on Advanced Vehicle Technologies (AVT) Article V001T00A001 ,
( 2023 ) . Reaction Force Analysis and Validation of a Rigid Origami-Inspired Modified Wren Parallel Mechanism With Flexure Hinges . Volume 8: 47th Mechanisms and Robotics Conference (MR) . Conference: ASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference from: 20/08/2023 to: 23/08/2023 ,
Liu C, Busfield JJC, Zhang K ( 2023 ) . An Electric Self‐Sensing and Variable‐Stiffness Artificial Muscle . Advanced Intelligent Systems vol. 5 , ( 9 ) Article 2370037 ,
Liu C, Busfield JJC, Zhang K ( 2023 ) . An Electric Self‐Sensing and Variable‐Stiffness Artificial Muscle . Advanced Intelligent Systems vol. 5 , ( 9 ) Article 2300131 ,
( 2023 ) . The Natural Robotics Contest: crowdsourced biomimetic design . Bioinspiration & Biomimetics vol. 18 , ( 3 ) 036002 - 036002 .
( 2023 ) . Design of a foldable origami mechanism with helical motion inspired by the Resch Triangular Tessellation . Mechanism and Machine Theory vol. 179 , Article 105101 , 105101 - 105101 .
( 2022 ) . A Variable Stiffness Continuum Parallel Manipulator With 3D Printed Pneumatic Artificial Muscles . Volume 7: 46th Mechanisms and Robotics Conference (MR) . Conference: ASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference from: 14/08/2022 to: 17/08/2022 ,
( 2022 ) . The Natural Robotics Contest: Crowdsourced Biomimetic Design .
( 2022 ) . Aerial additive manufacturing with multiple autonomous robots . Nature vol. 609 , ( 7928 ) 709 - 717 .
( 2022 ) . Learning to sense three-dimensional shape deformation of a single multimode fiber . Scientific Reports vol. 12 , ( 1 ) Article 12684 ,
( 2022 ) . An Electro-pneumatic Shape Morphing Rolling Robot with Variable Locomotion Modes . 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft) . Conference: 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft) from: 04/04/2022 to: 08/04/2022 , 715 - 721 .
( 2021 ) . Design and Kinematic Simulation of a Novel Leg Mechanism for Multi-Legged Robots . Volume 8B: 45th Mechanisms and Robotics Conference (MR) . Conference: ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference from: 17/08/2021 to: 19/08/2021 ,
( 2021 ) . A Suite of Robotic Solutions for Nuclear Waste Decommissioning . Robotics vol. 10 , ( 4 ) 112 - 112 .
( 2021 ) . A Novel Torsional Actuator Augmenting Twisting Skeleton and Artificial Muscle for Robots in Extreme Environments . 2021 IEEE International Conference on Robotics and Automation (ICRA) . Conference: 2021 IEEE International Conference on Robotics and Automation (ICRA) from: 30/05/2021 to: 05/06/2021 , 9318 - 9324 .
( 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 vol. 13 , ( 4 ) Article 040911 ,
( 2021 ) . 3D printable and fringe electric field adhesion enabled variable stiffness artificial muscles for semi-active vibration attenuation . Soft Matter vol. 17 , ( 28 ) 6697 - 6706 .
( 2020 ) . A Two-Fingered Robot Gripper with Variable Stiffness Flexure Hinges Based on Shape Morphing . 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . Conference: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) from: 24/10/2020 to: 24/01/2021 , 8716 - 8721 .
( 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 ) from: 09/09/2020 to: 11/09/2020 ,
( 2020 ) . Kinematic modeling and optimization of a new reconfigurable parallel mechanism . Mechanism and Machine Theory vol. 149 , Article 103850 , 103850 - 103850 .
( 2020 ) . Stiffness Performance Evaluation of 2UPR-RPU Over-constrained Parallel Mechanism . Nongye Jixie Xuebao Transactions of the Chinese Society for Agricultural Machinery vol. 51 , ( 2 ) 392 - 401 .
( 2019 ) . Designing Origami-Adapted Deployable Modules for Soft Continuum Arms . 138 - 147 .
( 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) . Conference: 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) from: 14/04/2019 to: 18/04/2019 , 821 - 827 .
( 2019 ) . An Integrated Delta Manipulator for Aerial Repair: A New Aerial Robotic System . IEEE Robotics & Automation Magazine vol. 26 , ( 1 ) 54 - 66 .
( 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 .
( 2019 ) . Preface .
( 2018 ) . Bioinspired design of a landing system with soft shock absorbers for autonomous aerial robots . Journal of Field Robotics vol. 36 , ( 1 ) 230 - 251 .
( 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 vol. 36 , ( 1 ) 49 - 77 .
( 2018 ) . Configuration analysis of a reconfigurable Rubik's snake robot . Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science vol. 233 , ( 9 ) 3137 - 3154 .
( 2018 ) . Novel spherical-planar and Bennett-spherical 6R metamorphic linkages with reconfigurable motion branches . Mechanism and Machine Theory vol. 128 , 628 - 647 .
( 2017 ) . SpiderMAV: Perching and stabilizing micro aerial vehicles with bio-inspired tensile anchoring systems . 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . Conference: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) from: 24/09/2017 to: 28/09/2017 , 6849 - 6854 .
( 2017 ) . Remote three-dimensional printing of polymer structures using drones . Proceedings of the Institution of Civil Engineers - Construction Materials1 - 31 .
( 2016 ) . Force Balance of a Spatial Metamorphic 6R Closed-Chain Linkage With Specific Kinematic Conditions . Volume 5B: 40th Mechanisms and Robotics Conference . Conference: ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference from: 21/08/2016 to: 24/08/2016 ,
( 2016 ) . Kinematics Analysis and Control of a Three-Fingered Metamorphic Robot Hand . Volume 5B: 40th Mechanisms and Robotics Conference . Conference: ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference from: 21/08/2016 to: 24/08/2016 ,
( 2016 ) . Geometric constraints and motion branch variations for reconfiguration of single-loop linkages with mobility one . Mechanism and Machine Theory vol. 106 , 16 - 29 .
( 2016 ) . Mobility variation of a family of metamorphic parallel mechanisms with reconfigurable hybrid limbs . Robotics and Computer-Integrated Manufacturing vol. 41 , 145 - 162 .
( 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 .
( 2016 ) . An Extensible Continuum Robot With Integrated Origami Parallel Modules . Journal of Mechanisms and Robotics vol. 8 , ( 3 ) Article 031010 ,
( 2016 ) . Repelling-Screw Based Force Analysis of Origami Mechanisms . Journal of Mechanisms and Robotics vol. 8 , ( 3 ) Article 031001 ,
( 2015 ) . An Origami Parallel Structure Integrated Deployable Continuum Robot . Volume 5B: 39th Mechanisms and Robotics Conference . Conference: ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference from: 02/08/2015 to: 05/08/2015 ,
( 2015 ) . Stiffness Design, Analysis and Validation of a Parallel-Mechanism Equivalent Suspension System . Volume 5B: 39th Mechanisms and Robotics Conference . Conference: ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference from: 02/08/2015 to: 05/08/2015 ,
( 2016 ) . AN ORIGAMI PARALLEL STRUCTURE INTEGRATED DEPLOYABLE CONTINUUM ROBOT . INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2015, VOL 5B .
( 2016 ) . STIFFNESS DESIGN, ANALYSIS AND VALIDATION OF A PARALLEL-MECHANISM EQUIVALENT SUSPENSION SYSTEM . INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2015, VOL 5B .
( 2015 ) . A Novel Reconfigurable 7R Linkage with Multifurcation . Mechanisms and Machine Science , Springer International Publishing
( 2015 ) . Analysis of the Motion Mode Change of a Metamorphic 8R Linkage . Mechanisms and Machine Science , Springer International Publishing
( 2015 ) . Guest editorial on reconfigurable and deployable mechanisms . Advances in Mechanical Engineering vol. 7 , ( 8 ) Article 1687814015593884 ,
( 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 ) Article 062303 ,
( 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 , 473 - 482 .
( 2015 ) . Helical Kirigami-Enabled Centimeter-Scale Worm Robot With Shape-Memory-Alloy Linear Actuators . Journal of Mechanisms and Robotics vol. 7 , ( 2 ) Article 021014 ,
( 2014 ) . Constraint-Based Design and Analysis of a Compliant Parallel Mechanism Using SMA-Spring Actuators . Volume 5A: 38th Mechanisms and Robotics Conference . Conference: ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference from: 17/08/2014 to: 20/08/2014 ,
( 2014 ) . Helical Kirigami-Inspired Centimeter-Scale Worm Robot With Shape-Memory-Alloy Actuators . Volume 5B: 38th Mechanisms and Robotics Conference . Conference: ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference from: 17/08/2014 to: 20/08/2014 ,
( 2015 ) . Reconfiguration analysis of wren platform and its kinematic variants based on reciprocal screw systems . 2015 Iftomm World Congress Proceedings Iftomm 2015 .
( 2014 ) . Trifurcation of the Evolved Sarrus-Motion Linkage Based on Parametric Constraints . Advances in Robot Kinematics , Springer International Publishing
( 2014 ) . A novel 4-DOFs origami enabled, SMA actuated, robotic end-effector for minimally invasive surgery . 2014 IEEE International Conference on Robotics and Automation (ICRA) . Conference: 2014 IEEE International Conference on Robotics and Automation (ICRA) from: 31/05/2014 to: 07/06/2014 , 2844 - 2849 .
( 2014 ) . A new family of reconfigurable parallel mechanisms with diamond kinematotropic chain . Mechanism and Machine Theory vol. 74 , 1 - 9 .
( 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 ) Article 021007 ,
( 2013 ) . Classification of Origami-Enabled Foldable Linkages and Emerging Applications . Volume 6B: 37th Mechanisms and Robotics Conference . Conference: ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference from: 04/08/2013 to: 07/08/2013 ,
( 2013 ) . Control Strategy and Trajectory Planning for Reconfiguration of a vA Based Metamorphic Parallel Manipulator . Volume 6B: 37th Mechanisms and Robotics Conference . Conference: ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference from: 04/08/2013 to: 07/08/2013 ,
( 2014 ) . Helical kirigami-inspired centimeter-scale worm robot with shape-memory-alloy actuators . Proceedings of the ASME Design Engineering Technical Conference . vol. 5B ,
( 2012 ) . A Family of Overconstrained 6R Linkages With the Rotational Symmetry of Order 2 . Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B . Conference: ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference from: 12/08/2012 to: 15/08/2012 , 1527 - 1534 .
( 2013 ) . Modelling and analysis of a rigid–compliant parallel mechanism . Robotics and Computer-Integrated Manufacturing vol. 29 , ( 4 ) 33 - 40 .
( 2012 ) . Geometric Constraint and Mobility Variation of Two 3SvPSv Metamorphic Parallel Mechanisms . Journal of Mechanical Design vol. 135 , ( 1 ) Article 011001 ,
( 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 .
( 2012 ) . Reciprocal screw theory based singularity analysis of a novel 3-DOF parallel manipulator . Chinese Journal of Mechanical Engineering vol. 25 , ( 4 ) 647 - 653 .
( 2012 ) . Structural Representation of Reconfigurable Linkages . 127 - 137 .
( 2012 ) . Type-Changeable Kinematic Pair Evolved Reconfigurable Parallel Mechanisms . 309 - 319 .
( 2011 ) . Geometry and Constraint Based Design of Metamorphic Parallel Mechanisms . Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B . Conference: ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference from: 28/08/2011 to: 31/08/2011 , 931 - 940 .
( 2012 ) . Constraint analysis and bifurcated motion of the 3PUP parallel mechanism . Mechanism and Machine Theory . vol. 49 , 256 - 269 .
( 2012 ) . Kinematics of an Overconstrained 6R Linkage with 2-Fold Rotational Symmetry . Latest Advances in Robot Kinematics , Springer Netherlands
( 2010 ) . Topology and Constraint Analysis of Reconfiguration in Metamorphic Mechanisms . Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B . Conference: ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference from: 15/08/2010 to: 18/08/2010 , 1689 - 1698 .
( 2010 ) . Topology and Constraint Analysis of Phase Change in the Metamorphic Chain and Its Evolved Mechanism . Journal of Mechanical Design vol. 132 , ( 12 ) Article 121001 ,
( 2010 ) . Geometry and Constraint Analysis of the Three-Spherical Kinematic Chain Based Parallel Mechanism . Journal of Mechanisms and Robotics vol. 2 , ( 3 ) Article 031014 ,
( 2010 ) . Overview and Prospects of Metamorphic Mechanism . Journal of Mechanical Engineering vol. 46 , ( 13 ) 14 - 14 .
( 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 .
( 2009 ) . Design and Analyses of a Novel 3-DOF Parallel Mechanism . Chinese Journal of Mechanical Engineering vol. 45 , ( 01 ) 68 - 68 .
( 2008 ) . Gait design and stable control for a symmetrical four-legged robot on irregular terrain . 2008 7th World Congress on Intelligent Control and Automation . Conference: 2008 7th World Congress on Intelligent Control and Automation from: 25/06/2008 to: 27/06/2008 , 7460 - 7465 .
( 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 .
( 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 .
( 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 .
Back to Search