Dr Ketao Zhang
Senior Lecturer in Robotics
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 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 Robotics2025
Modeling, optimization, and control of a variable stiffness pneumatic rotary joint with soft-rigid hybrid twisting modulesJiang Z and 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 and Shi C
Soft Robotics, Mary Ann Liebert
27-11-2024
Capacitive PVC gel pressure sensors with various interlinked microstructural dielectric middle layersLiu C, Uddin MH and 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 and 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, Yuan Y, Zhang K and Mechtcherine V
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 and 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 and 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 and 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 and 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, 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.
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, Yuan Y, Zhang K and Mechtcherine V
Nature Reviews Materials, Nature Research
24-11-2023
An Electric Self‐Sensing and Variable‐Stiffness Artificial MuscleLiu C, Busfield JJC and 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 and Zhang K
Volume 8: 47th Mechanisms and Robotics Conference (MR).
20-08-2023
An Electric Self‐Sensing and Variable‐Stiffness Artificial MuscleLiu C, Busfield JJC and 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 and Sergeev E
Bioinspiration & Biomimetics, Iop Publishing vol. 18 (3)
22-03-2023
2022
Design of a foldable origami mechanism with helical motion inspired by the Resch Triangular TessellationLiang H, Hao G, Olszewski OZ, Jiang Z and 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 and 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 and 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 and 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, Hansard M, Oh C, Poslad S, Liu C, Godaba H, Zhang K, Jamone L and Althoefer K
Robotics vol. 10 (4), 112-112.
07-10-2021
Design and Kinematic Simulation of a Novel Leg Mechanism for Multi-Legged RobotsAsci S and 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 and 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 and 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 and 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 and 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 and 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 and 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 and 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 and 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 and 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 and Zhang K
Nongye Jixie Xuebao/Transactions of The Chinese Society For Agricultural Machinery vol. 50 (1), 374-382.
25-01-2019
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 and 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 and 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 and 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 and 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 and 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 and 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 and 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 and 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 and 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 and 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 and 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 and 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 and Dai JS
Journal of Mechanisms and Robotics vol. 8 (3)
07-03-2016
2015
A Novel Reconfigurable 7R Linkage with MultifurcationZhang K, Müller A and 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 and 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 and 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 and 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 and 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 and 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 and 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 and 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 and Dai JS
2015 IFToMM World Congress Proceedings, IFToMM 2015.
01-01-2015
An origami parallel structure integrated deployable continuum robotZhang K, Qiu C and 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 and 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 and 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 and 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 and 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 and 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 and 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 and 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 and 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 and 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 and 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 and 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 and 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 and 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 and 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 and 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 and 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 and Dai JS
In Latest Advances in Robot Kinematics, Springer Nature 229-236.
01-01-2012
Type-Changeable Kinematic Pair Evolved Reconfigurable Parallel MechanismsZhang K, Emmanouil E, Fang Y and Dai JS
01-01-2012
2011
Geometry and Constraint Based Design of Metamorphic Parallel MechanismsZhang K, Dai JS and 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 and 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 and 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 and 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 and 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 and 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 and 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 and 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 and Huai C
PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON MECHANICAL ENGINEERING AND MECHANICS 2007, VOLS 1 AND 2., 624-629.
01-01-2007
Grants
Grants of specific relevance to the Centre for Advanced RoboticsEMPreSS: Enhanced Methane Monitoring Precision for a Multi-Agent UAV System SolutionPaul Balcombe and Ketao Zhang
£415,038 NERC Natural Environment Research Council
01-06-2024 - 31-05-2027
Integrated 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
Computational Design and Control of Quadruped Robots with Bio-inspired Leg Mechanisms for Dynamic Locomotion in Challenging TerrainKetao Zhang
£20,000 Royal Society
31-03-2021 - 30-06-2022
EPSRC Core Equipment 2020Wen Wang, Ketao Zhang, Matteo Palma and Ildar Farkhatdinov
£497,496 EPSRC Engineering and Physical Sciences Research Council
01-11-2020 - 30-04-2022
Electroadhesion for anchoring robots in challenging environmentsKetao Zhang and Hareesh Godaba
£84,395 EPSRC Engineering and Physical Sciences Research Council
01-10-2019 - 31-03-2022