Dr Ketao Zhang
Senior Lecturer in Robotics
Industrial Engagement Lead
School of Engineering and Materials Science
Queen Mary University of London
Queen Mary University of London
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 are
1) design, modelling and control of novel robotic systems,
2) parallel manipulators for manufacturing,
3) mobile manipulation and applications,
4) self-folding and morphable soft-bodied robots.
Publications
Publications of specific relevance to the Centre for Intelligent Transport2024
Jiang Z and Zhang K (2024). Force analysis of a soft-rigid hybrid pneumatic actuator and its application in a bipedal inchworm robot. Robotica, Cambridge University Press (CUP), 1-17. 07-03-2024
Liu C and Zhang K (2024). A Wearable Finger Tremor-Suppression Orthosis Using the PVC Gel Linear Actuator. IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE) vol. PP (99), 1-8. 23-02-2024
Wang Z, Hu M and Zhang K (2024). Underwater Turbid Media Stokes-Based Polarimetric Recovery. Sensors, MDPI vol. 24 (5) 20-02-2024
Jiang Z, Wang Y and Zhang K (2024). Development of a Pneumatically Actuated Quadruped Robot Using Soft–Rigid Hybrid Rotary Joints. Robotics, MDPI vol. 13 (2) 29-01-2024
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, et al. (2024). Author Correction: Aerial additive manufacturing with multiple autonomous robots. Nature, Springer Nature vol. 626 (7998), e5-e5. 23-01-2024
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, Nature Research 24-11-2023
Liu C, Busfield JJC and Zhang K (2023). An Electric Self‐Sensing and Variable‐Stiffness Artificial Muscle. Advanced Intelligent Systems, Wiley vol. 5 (9) 01-09-2023
Jiang Z and Zhang K (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). 20-08-2023
Liu C, Busfield JJC and Zhang K (2023). An Electric Self‐Sensing and Variable‐Stiffness Artificial Muscle. Advanced Intelligent Systems, Wiley 08-07-2023
Siddall R, Zufferey R, Armanini S, Zhang K, Sareh S and Sergeev E (2023). The Natural Robotics Contest: crowdsourced biomimetic design. Bioinspiration & Biomimetics, IOP Publishing vol. 18 (3) 22-03-2023
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, Elsevier vol. 179 02-10-2022
Zhang K (2022). Aerial Additive Manufacturing with Multiple Autonomous Robots. Nature, Nature Publishing Group 21-09-2022
Jiang Z, Liu C and Zhang K (2022). A Variable Stiffness Continuum Parallel Manipulator With 3D Printed Pneumatic Artificial Muscles. Volume 7: 46th Mechanisms and Robotics Conference (MR). 14-08-2022
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, Nature Research 25-07-2022
Liu C, Edwards O, Althoefer K, Zhang K and Godaba H (2022). An Electro-pneumatic Shape Morphing Rolling Robot with Variable Locomotion Modes. 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft). 08-04-2022
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. 07-10-2021
Asci S and Zhang K (2021). Design and Kinematic Simulation of a Novel Leg Mechanism for Multi-Legged Robots. Volume 8B: 45th Mechanisms and Robotics Conference (MR). 17-08-2021
Jiang Z and Zhang K (2021). A Novel Torsional Actuator Augmenting Twisting Skeleton and Artificial Muscle for Robots in Extreme Environments. The 2021 International Conference on Robotics and Automation (ICRA 2021) 30 May 2021 - 5 Jun 2021. 30-05-2021
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, Royal Society of Chemistry 27-05-2021
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. 30-04-2021
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. 2020 IEEE International Conference on Intelligent Robots and Systems. 24-10-2020
Zhang K (2020). A Type-III Bennett Plano-Spherical Linkage Evolved Parallel Manipulator and Design of a Novel Inflatable Bending Actuator for Reconfiguration. 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
Wei Y, Chai X and Zhang K (2020). Kinematic Modeling and Optimization of a New Reconfigurable Parallel Mechanism. Mechanism and Machine Theory, Elsevier 27-02-2020
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, Chinese Society of Agricultural Machinery vol. 51 (2), 392-401. 25-02-2020
2019
Zhang K and Althoefer K (2019). Designing Origami-Adapted Deployable Modules for Soft Continuum Arms. 20th Towards Autonomous Robotic Systems (TAROS 2019) London 3 Jul 2019 - 5 Jul 2019. 07-07-2019
Zhang K, Zhu Y, Lou C, Zheng P and Kovač M (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). 14-04-2019
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, Institute of Electrical and Electronics Engineers 13-02-2019
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. 25-01-2019
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 31-10-2018
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 27-10-2018
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 06-10-2018
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. 20-07-2018
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. IROS2017. 13-12-2017
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. 14-07-2017
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. 01-10-2016
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. 01-09-2016
Calzati M, Zhang K, Castelli VP and Dai JS (2016). Kinematics Analysis and Control of a Three-Fingered Metamorphic Robot Hand. Volume 5B: 40th Mechanisms and Robotics Conference. 21-08-2016
van der Wijk V, Zhang K and Dai JS (2016). Force Balance of a Spatial Metamorphic 6R Closed-Chain Linkage With Specific Kinematic Conditions. Volume 5B: 40th Mechanisms and Robotics Conference. 21-08-2016
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. 01-06-2016
Qiu C, Zhang K and Dai JS (2016). Repelling-screw based force analysis of origami mechanisms. Journal of Mechanisms and Robotics vol. 8 (3) 01-06-2016
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) 07-03-2016
2015
Zhang K, Müller A and Dai JS (2015). A Novel Reconfigurable 7R Linkage with Multifurcation. Advances in Reconfigurable Mechanisms and Robots II 15-25. 24-11-2015
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 39-47. 24-11-2015
Qiu C, Zhang K, Zhao JS and Dai JS (2015). Stiffness Design, Analysis and Validation of a Parallel-Mechanism Equivalent Suspension System. Volume 5B: 39th Mechanisms and Robotics Conference. 02-08-2015
Zhang K, Qiu C and Dai JS (2015). An Origami Parallel Structure Integrated Deployable Continuum Robot. Volume 5B: 39th Mechanisms and Robotics Conference. 02-08-2015
Liu J, Ding X, Jin Y, Zhang K and Hao G (2015). Guest editorial on reconfigurable and deployable mechanisms. Advances in Mechanical Engineering, SAGE Publications vol. 7 (8) 01-08-2015
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, ASME International vol. 137 (6) 01-06-2015
Zhang K and Dai JS (2015). Reconfiguration of the plane-symmetric double-spherical 6R linkage with bifurcation and trifurcation. 14-05-2015
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, ASME International vol. 7 (2) 01-05-2015
Zhang K and Dai JS (2015). Reconfiguration analysis of wren platform and its kinematic variants based on reciprocal screw systems. 01-01-2015
Zhang K, Qiu C and Dai JS (2015). An origami parallel structure integrated deployable continuum robot. 01-01-2015
Qiu C, Zhang K, Zhao JS and Dai JS (2015). Stiffness design, analysis and validation of a parallel-mechanism equivalent suspension system. 01-01-2015
2014
Qiu C, Zhang K and Dai JS (2014). Constraint-Based Design and Analysis of a Compliant Parallel Mechanism Using SMA-Spring Actuators. Volume 5A: 38th Mechanisms and Robotics Conference. 17-08-2014
Zhang K, Qiu C and Dai JS (2014). Helical Kirigami-Inspired Centimeter-Scale Worm Robot With Shape-Memory-Alloy Actuators. Volume 5B: 38th Mechanisms and Robotics Conference. 17-08-2014
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. 2014 IEEE International Conference on Robotics and Automation (ICRA). 01-05-2014
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, Elsevier vol. 74, 1-9. 01-04-2014
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, ASME International vol. 6 (2) 06-03-2014
Zhang K, Qiu C and Dai JS (2014). Helical kirigami-inspired centimeter-scale worm robot with shape-memory-alloy actuators. 01-01-2014
Zhang K and Dai JS (2014). Trifurcation of the Evolved Sarrus-Motion Linkage Based on Parametric Constraints. Advances in Robot Kinematics 345-353. 01-01-2014
2013
Zhang K and Dai JS (2013). Classification of Origami-Enabled Foldable Linkages and Emerging Applications. Volume 6B: 37th Mechanisms and Robotics Conference. 04-08-2013
Emmanouil E, Zhang K and Dai JS (2013). Control Strategy and Trajectory Planning for Reconfiguration of a vA Based Metamorphic Parallel Manipulator. Volume 6B: 37th Mechanisms and Robotics Conference. 04-08-2013
Qin Y, Zhang K, Li J and Dai JS (2013). Modelling and analysis of a rigid–compliant parallel mechanism. Robotics and Computer-Integrated Manufacturing, Elsevier vol. 29 (4), 33-40. 01-08-2013
2012
Zhang K, Dai JS and Fang Y (2012). Geometric Constraint and Mobility Variation of Two 3SvPSv Metamorphic Parallel Mechanisms. Journal of Mechanical Design, ASME International vol. 135 (1) 19-11-2012
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, SAGE Publications vol. 227 (3), 620-629. 11-10-2012
Zhang K and Dai JS (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. 12-08-2012
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, Chinese Journal of Mechanical Engineering vol. 25 (4), 647-653. 01-07-2012
Zhang K, Dai JS and Fang Y (2012). Constraint analysis and bifurcated motion of the 3PUP parallel mechanism. 01-03-2012
Zhang K and Dai JS (2012). Kinematics of an Overconstrained 6R Linkage with 2-Fold Rotational Symmetry. Latest Advances in Robot Kinematics 229-236. 01-01-2012
Zhang K, Fang Y, Wei G and Dai JS (2012). Structural Representation of Reconfigurable Linkages. 01-01-2012
Zhang K, Emmanouil E, Fang Y and Dai JS (2012). Type-Changeable Kinematic Pair Evolved Reconfigurable Parallel Mechanisms. 01-01-2012
2011
Zhang K, Dai JS and Fang Y (2011). Geometry and Constraint Based Design of Metamorphic Parallel Mechanisms. Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B. 01-01-2011
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, ASME International vol. 132 (12) 23-11-2010
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, ASME International vol. 2 (3) 23-07-2010
Zhang K, Dai JS, Fang Y and Zhu Z-Q (2010). Topology and Constraint Analysis of Reconfiguration in Metamorphic Mechanisms. Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B. 01-01-2010
LI D (2010). Overview and Prospects of Metamorphic Mechanism. Journal of Mechanical Engineering, Chinese Journal of Mechanical Engineering vol. 46 (13) 01-01-2010
2009
Zhang K, Dai JS and Fang Y (2009). A new metamorphic mechanism with ability for platform orientation switch and mobility change. 12-11-2009
ZHANG K (2009). Design and Analyses of a Novel 3-DOF Parallel Mechanism. Journal of Mechanical Engineering, Chinese Journal of Mechanical Engineering vol. 45 (01) 01-01-2009
2008
Huai C, Fang Y and Zhang K (2008). Gait Design and Stable Control for a Symmetrical Four-legged Robot on Irregular Terrain. 2008 7th World Congress on Intelligent Control and Automation. 01-01-2008
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. 01-07-2007
Huai C, Fang Y and Zhang K (2007). Dynamic modeling and hierarchy control for a symmetrical quadruped robot. 01-01-2007
Zhang K, Fang Y and Huai C (2007). Design and kinematics of a novel three DOF parallel manipulator. 01-01-2007
Grants
Grants of specific relevance to the Centre for Intelligent TransportIntegrated Human-Augmented Robotics and Intelligent Sensing Platform for Precision ViticultureKetao Zhang and Lei Su
£297,599 Innovate UK (01-09-2023 - 31-08-2026)
Electroadhesion for Perching and Resting Quadrotor Unmanned Aerial Vehicles on Various SurfacesKetao Zhang
£12,000 Royal Society (31-03-2022 - 30-09-2024)