Research
Robotics, Aerial Robotics, Kinematics and Dynamics, Bio-inspired Design, Soft Robotics, Additive Manufacturing
Interests
Dr Ketao Zhang's current research include screw theory, origami-inspired design and fabrication techniques, reconfigurable parallel manipulators, biologically-inspired robots, aerial robots, mobile robots and mobile manipulation, and morphable soft-bodied robots.
Current research themes in his group include:
1) aerial robotics; 2) robotic hand and gripper, and reconfigurable manipulators; 3) origami-inspired design and robot mechanisms; 4) soft actuators and sensors.
Publications
Publications of specific relevance to the Centre for Advanced Robotics
2025
Dynamic Wrench-Based Performance Evaluation of an Adjustable Aerial Cable-Towed SystemNurahmi L Putra Noer Ramadhan R Pramujati B Wasiwitono U Sara S Zhang K
In
New Advances in Mechanisms, Transmissions and Applications,
Springer Nature 238-247.
05-10-2025Modeling, optimization, and control of a variable stiffness pneumatic rotary joint with soft-rigid hybrid twisting modulesJiang Z 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 CapabilityXu Y Song D Zhang K Shi C
Soft Robotics,
Mary Ann Liebert vol. 12 (3), 350-363.
27-11-2024 Special Issue: Selected Papers From IDETC-CIE 2023 Journal of Mechanisms and Robotics,
Asme International vol. 16 (11)
15-10-2024 Capacitive PVC gel pressure sensors with various interlinked microstructural dielectric middle layersLiu C Uddin MH Zhang K
Sensors and Actuators a Physical,
Elsevier vol. 374
01-08-2024 A Novel Morphing Quadrotor UAV with Sarrus-Linkage-Based Reconfigurable FrameWang Y Liu C Zhang K
2024 6th International Conference on Reconfigurable Mechanisms and Robots (ReMAR). vol. 00, 283-289.
26-06-2024 Strategies towards large-scale 3D printing without size constraintsZuo Z De Corte W Huang Y Chen X Zhang Y Li J Zhang L Xiao J et al.
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 robotJiang Z 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 ActuatorLiu C 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 RecoveryWang Z Hu M Zhang K
Sensors,
Mdpi vol. 24 (5)
20-02-2024 Development of a Pneumatically Actuated Quadruped Robot Using Soft–Rigid Hybrid Rotary JointsJiang Z Wang Y Zhang K
Robotics,
Mdpi vol. 13 (2)
29-01-2024 Author Correction: Aerial additive manufacturing with multiple autonomous robotsZhang K Chermprayong P Xiao F Tzoumanikas D Dams B Kay S Kocer BB Burns A et al.
Nature,
Springer Nature vol. 626 (7998), e5-e5.
23-01-2024 2023
Propelling the widespread adoption of large-scale 3D printingZuo Z Wouter De C Huang Y Chen X Zhang Y Li J Zhang L Xiao J et al.
Nature Reviews Materials,
Nature Research 24-11-2023 An Electric Self‐Sensing and Variable‐Stiffness Artificial MuscleLiu C Busfield JJC 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 HingesJiang Z Zhang K
Volume 8: 47th Mechanisms and Robotics Conference (MR).
20-08-2023 IDETC-CIE2023 Front Matter ,
Asme International 20-08-2023 An Electric Self‐Sensing and Variable‐Stiffness Artificial MuscleLiu C Busfield JJC Zhang K
Advanced Intelligent Systems,
Wiley 08-07-2023 The Natural Robotics Contest: crowdsourced biomimetic designSiddall R Zufferey R Armanini S Zhang K Sareh S Sergeev E
Bioinspiration & Biomimetics,
Iop Publishing vol. 18 (3)
22-03-2023 2022
The Natural Robotics Contest: Crowdsourced Biomimetic DesignSiddall R Zufferey R Armanini S Zhang K Sareh S Sergeev E
In
Arxiv 20-10-2022 Design of a foldable origami mechanism with helical motion inspired by the Resch Triangular TessellationLiang H Hao G Olszewski OZ Jiang Z Zhang K
Mechanism and Machine Theory,
Elsevier vol. 179
02-10-2022 Aerial Additive Manufacturing with Multiple Autonomous RobotsZhang K
Nature,
Nature Publishing Group 21-09-2022 A Variable Stiffness Continuum Parallel Manipulator With 3D Printed Pneumatic Artificial MusclesJiang Z Liu C Zhang K
Volume 7: 46th Mechanisms and Robotics Conference (MR).
14-08-2022 Learning to sense three-dimensional shape deformation of a single multimode fiberWang X Wang Y Zhang K Althoefer K Su L
Scientific Reports,
Nature Research 25-07-2022 An Electro-pneumatic Shape Morphing Rolling Robot with Variable Locomotion ModesLiu C Edwards O Althoefer K Zhang K Godaba H
2022 IEEE 5th International Conference on Soft Robotics (RoboSoft). vol. 00, 715-721.
08-04-2022 2021
A Suite of Robotic Solutions for Nuclear Waste DecommissioningVitanov I Farkhatdinov I Denoun B Palermo F Otaran A Brown J Omarali B Abrar T et al.
Robotics vol. 10 (4), 112-112.
07-10-2021 Design and Kinematic Simulation of a Novel Leg Mechanism for Multi-Legged RobotsAsci S 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 EnvironmentsJiang Z Zhang K
The 2021 International Conference on Robotics and Automation (ICRA 2021) 30 May 2021 - 5 Jun 2021. vol. 2021-May, 9318-9324.
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 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 MotorsZhang K 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 morphingGodaba H Sajad A Patel N Althoefer K Zhang K
2020 IEEE International Conference on Intelligent Robots and Systems., 8716-8721.
24-10-2020 A Type-III Bennett Plano-Spherical Linkage Evolved Parallel Manipulator and Design of a Novel Inflatable Bending Actuator for ReconfigurationZhang 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 MechanismWei Y Chai X Zhang K
Mechanism and Machine Theory,
Elsevier 27-02-2020 Stiffness Performance Evaluation of 2UPR-RPU Over-constrained Parallel MechanismYang C Ye W Zhang K Huang F 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 ArmsZhang K Althoefer K
20th Towards Autonomous Robotic Systems (TAROS 2019) London 3 Jul 2019 - 5 Jul 2019. vol. 11649 LNAI, 138-147.
07-07-2019 A Design and Fabrication Approach for Pneumatic Soft Robotic Arms Using 3D Printed Origami SkeletonsZhang K Zhu Y Lou C Zheng P Kovač M
2019 2nd IEEE International Conference on Soft Robotics (RoboSoft). vol. 00, 821-827.
14-04-2019 An Integrated Delta Manipulator for Aerial Repair: A New Aerial Robotic SystemChermprayong P ZHANG K Xiao F 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 MotionYe W Li Q Zhang K
Nongye Jixie Xuebao/Transactions of The Chinese Society For Agricultural Machinery vol. 50 (1), 374-382.
25-01-2019 PrefaceAlthoefer K Konstantinova J Zhang K
01-01-2019 2018
Bioinspired design of a landing system with soft shock absorbers for autonomous aerial robotsZhang K Chermprayong P Tzoumanikas D Li W Grimm M Smentoch M Leutenegger S 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 controlTzoumanikas D Li W Grimm M Zhang K Kovac M Leutenegger S
Journal of Field Robotics 27-10-2018 Configuration analysis of a reconfigurable Rubik's snake robotLiu J Zhang X ZHANG K Dai JS Li S 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 branchesMa X Zhang K 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 systemsZhang K Chermprayong P Alhinai TM Siddall R Kovac M
IROS2017. vol. 2017-September, 6849-6854.
13-12-2017 Remote three-dimensional printing of polymer structures using dronesDams B Sareh S Zhang K Shepherd P Kovac M 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 limbsYe W Fang Y Zhang K 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 oneZhang K Dai JS
Mechanism and Machine Theory vol. 106, 16-29.
01-09-2016 Kinematics Analysis and Control of a Three-Fingered Metamorphic Robot HandCalzati M Zhang K Castelli VP Dai JS
Volume 5B: 40th Mechanisms and Robotics Conference., v05bt07a053-v05bt07a053.
21-08-2016 Force Balance of a Spatial Metamorphic 6R Closed-Chain Linkage With Specific Kinematic Conditionsvan der Wijk V Zhang K Dai JS
Volume 5B: 40th Mechanisms and Robotics Conference., v05bt07a058-v05bt07a058.
21-08-2016 A Novel 4-DOF Origami Grasper With an SMA-Actuation System for Minimally Invasive SurgerySalerno M Zhang K Menciassi A Dai JS
IEEE Transactions on Robotics vol. 32 (3), 484-498.
01-06-2016 Repelling-screw based force analysis of origami mechanismsQiu C Zhang K Dai JS
Journal of Mechanisms and Robotics vol. 8 (3)
01-06-2016 An extensible continuum robot with integrated origami parallel modulesZhang K Qiu C Dai JS
Journal of Mechanisms and Robotics vol. 8 (3)
07-03-2016 2015
A Novel Reconfigurable 7R Linkage with MultifurcationZhang K Müller A 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 LinkageMüller A Zhang K Dai JS
In
Advances in Reconfigurable Mechanisms and Robots II,
Springer Nature 39-47.
24-11-2015 Stiffness Design, Analysis and Validation of a Parallel-Mechanism Equivalent Suspension SystemQiu C Zhang K Zhao JS Dai JS
Volume 5B: 39th Mechanisms and Robotics Conference., v05bt08a006-v05bt08a006.
02-08-2015 An Origami Parallel Structure Integrated Deployable Continuum RobotZhang K Qiu C Dai JS
Volume 5B: 39th Mechanisms and Robotics Conference., v05bt08a032-v05bt08a032.
02-08-2015 Guest editorial on reconfigurable and deployable mechanismsLiu J Ding X Jin Y Zhang K Hao G
Advances in Mechanical Engineering,
Sage Publications vol. 7 (8)
01-08-2015 Screw-System-Variation Enabled Reconfiguration of the Bennett Plano-Spherical Hybrid Linkage and Its Evolved Parallel MechanismZhang K Dai JS
Journal of Mechanical Design,
Asme International vol. 137 (6)
01-06-2015 Reconfiguration of the plane-symmetric double-spherical 6R linkage with bifurcation and trifurcationZhang K Dai JS
Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science. vol. 230 (3), 473-482.
14-05-2015 Helical Kirigami-Enabled Centimeter-Scale Worm Robot With Shape-Memory-Alloy Linear ActuatorsZhang K Qiu C Dai JS
Journal of Mechanisms and Robotics,
Asme International vol. 7 (2)
01-05-2015 Reconfiguration analysis of wren platform and its kinematic variants based on reciprocal screw systemsZhang K Dai JS
2015 Iftomm World Congress Proceedings Iftomm 2015.
01-01-2015 An origami parallel structure integrated deployable continuum robotZhang K Qiu C Dai JS
Proceedings of the ASME Design Engineering Technical Conference. vol. 5B-2015
01-01-2015 Stiffness design, analysis and validation of a parallel-mechanism equivalent suspension systemQiu C Zhang K Zhao JS Dai JS
Proceedings of the ASME Design Engineering Technical Conference. vol. 5B-2015
01-01-2015 2014
Constraint-Based Design and Analysis of a Compliant Parallel Mechanism Using SMA-Spring ActuatorsQiu C Zhang K Dai JS
Volume 5A: 38th Mechanisms and Robotics Conference., v05at08a035-v05at08a035.
17-08-2014 Helical Kirigami-Inspired Centimeter-Scale Worm Robot With Shape-Memory-Alloy ActuatorsZhang K Qiu C Dai JS
Volume 5B: 38th Mechanisms and Robotics Conference., v05bt08a039-v05bt08a039.
17-08-2014 A Novel 4-DoFs Origami Enabled, SMA Actuated, Robotic End-Effector for Minimally Invasive SurgerySalerno M Zhang K Menciassi A Dai JS
2014 IEEE International Conference on Robotics and Automation (ICRA)., 2844-2849.
01-05-2014 A new family of reconfigurable parallel mechanisms with diamond kinematotropic chainYe W Fang Y Zhang K Guo S
Mechanism and Machine Theory,
Elsevier vol. 74, 1-9.
01-04-2014 A Kirigami-Inspired 8R Linkage and Its Evolved Overconstrained 6R Linkages With the Rotational Symmetry of Order TwoZhang K Dai JS
Journal of Mechanisms and Robotics,
Asme International vol. 6 (2)
06-03-2014 Helical kirigami-inspired centimeter-scale worm robot with shape-memory-alloy actuatorsZhang K Qiu C Dai JS
Proceedings of the ASME Design Engineering Technical Conference. vol. 5B
01-01-2014 Trifurcation of the Evolved Sarrus-Motion Linkage Based on Parametric ConstraintsZhang K Dai JS
In
Advances in Robot Kinematics,
Springer Nature 345-353.
01-01-2014 2013
Classification of Origami-Enabled Foldable Linkages and Emerging ApplicationsZhang K Dai JS
Volume 6B: 37th Mechanisms and Robotics Conference., v06bt07a024-v06bt07a024.
04-08-2013 Control Strategy and Trajectory Planning for Reconfiguration of a vA Based Metamorphic Parallel ManipulatorEmmanouil E Zhang K Dai JS
Volume 6B: 37th Mechanisms and Robotics Conference., v06bt07a052-v06bt07a052.
04-08-2013 Modelling and analysis of a rigid–compliant parallel mechanismQin Y Zhang K Li J Dai JS
Robotics and Computer-Integrated Manufacturing,
Elsevier vol. 29 (4), 33-40.
01-08-2013 2012
Geometric Constraint and Mobility Variation of Two 3SvPSv Metamorphic Parallel MechanismsZhang K Dai JS Fang Y
Journal of Mechanical Design,
Asme International vol. 135 (1)
19-11-2012 Kinematics and workspace analysis of a novel 3-DOF parallel manipulator with virtual symmetric planeFang H Fang Y Zhang K
Proceedings of The Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science,
Sage Publications vol. 227 (3), 620-629.
11-10-2012 A Family of Overconstrained 6R Linkages With the Rotational Symmetry of Order 2Zhang K Dai JS
Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B., 1527-1534.
12-08-2012 Reciprocal screw theory based singularity analysis of a novel 3-DOF parallel manipulatorFang H Fang Y Zhang K
Chinese Journal of Mechanical Engineering,
Chinese Journal of Mechanical Engineering vol. 25 (4), 647-653.
01-07-2012 Constraint analysis and bifurcated motion of the 3PUP parallel mechanismZhang K Dai JS Fang Y
Mechanism and Machine Theory. vol. 49, 256-269.
01-03-2012 Kinematics of an Overconstrained 6R Linkage with 2-Fold Rotational SymmetryZhang K Dai JS
In
Latest Advances in Robot Kinematics,
Springer Nature 229-236.
01-01-2012 Structural Representation of Reconfigurable LinkagesZhang K Fang Y Wei G Dai JS
01-01-2012 Type-Changeable Kinematic Pair Evolved Reconfigurable Parallel MechanismsZhang K Emmanouil E Fang Y Dai JS
01-01-2012 2011
Geometry and Constraint Based Design of Metamorphic Parallel MechanismsZhang K Dai JS Fang Y
Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B., 931-940.
01-01-2011 2010
Topology and Constraint Analysis of Phase Change in the Metamorphic Chain and Its Evolved MechanismZhang K Dai JS Fang Y
Journal of Mechanical Design,
Asme International vol. 132 (12)
23-11-2010 Geometry and Constraint Analysis of the Three-Spherical Kinematic Chain Based Parallel MechanismZhang K Fang Y Fang H Dai JS
Journal of Mechanisms and Robotics,
Asme International vol. 2 (3)
23-07-2010 Topology and Constraint Analysis of Reconfiguration in Metamorphic MechanismsZhang K Dai JS Fang Y Zhu Z-Q
Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B., 1689-1698.
01-01-2010 Overview and Prospects of Metamorphic MechanismLI D
Journal of Mechanical Engineering,
Chinese Journal of Mechanical Engineering vol. 46 (13)
01-01-2010 2009
A new metamorphic mechanism with ability for platform orientation switch and mobility changeZhang K Dai JS Fang Y
Proceedings of the 2009 ASME Iftomm International Conference on Reconfigurable Mechanisms and Robots Remar 2009., 596-602.
12-11-2009 Design and Analyses of a Novel 3-DOF Parallel MechanismZHANG K
Journal of Mechanical Engineering,
Chinese Journal of Mechanical Engineering vol. 45 (01)
01-01-2009 2008
Gait Design and Stable Control for a Symmetrical Four-legged Robot on Irregular TerrainHuai C Fang Y Zhang K
2008 7th World Congress on Intelligent Control and Automation., 7460-7465.
01-01-2008 2007
Design and analysis of a rover mechanism based on the metamorphic principleZhang K Fang Y Fang H
Beijing Hangkong Hangtian Daxue Xuebao Journal of Beijing University of Aeronautics and Astronautics vol. 33 (7), 838-841.
01-07-2007 Dynamic modeling and hierarchy control for a symmetrical quadruped robotHuai C Fang Y Zhang K
PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON MECHANICAL ENGINEERING AND MECHANICS 2007, VOLS 1 AND 2., 652-657.
01-01-2007 Design and kinematics of a novel three DOF parallel manipulatorZhang K Fang Y Huai C
PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON MECHANICAL ENGINEERING AND MECHANICS 2007, VOLS 1 AND 2., 624-629.
01-01-2007
