📚 论文 (Publications)

💡 提示: 点击 [PDF] 下载论文，点击 DOI 查看论文原文。

📰 期刊论文 (Journal Papers)

X. Zhang, C. Yang, Z. Song, M. A. Khanesar, D. T. Branson, J. S. Dai, and R. Kang, “An adaptive lumped-mass dynamic model and its control application for continuum robots.” Mechanism and Machine Theory, vol. 201, p. 105736, Oct. 2024.
中科院 1 区 | IF: 4.5 | EI
[PDF] | [DOI: 10.1016/j.mechmachtheory.2024.105736]
- 主要贡献: 提出了自适应集总参数动力学模型 (ALMD)，通过多层感知机实时调整动态参数，建模误差降低 60.2%，基于该模型的 feedforward 控制器将跟踪误差降低 67.5%

X. Zhang, Y. Liu, D. T. Branson, C. Yang, J. S. Dai, and R. Kang, “Variable-gain control for continuum robots based on velocity sensitivity.” Mechanism and Machine Theory, vol. 168, p. 104618, Feb. 2022.
中科院 1 区 | IF: 4.5 | EI
[PDF] | [DOI: 10.1016/j.mechmachtheory.2021.104618]
- 主要贡献: 提出速度敏感性参数评估连续体机器人运动学特性，基于此的变增益控制策略可有效平滑机器人在工作空间内的运动

P. Yuan, C. Sun, X. Chang, X. Zhang, and R. Kang, “Enhancing continuum robot mobility: design and control with integrated dual rotational DOFs.” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hangzhou, China, Oct. 2025, pp. 3287–3292.
CCF-A 类会议 | EI
[PDF] | [DOI: 10.1109/IROS60139.2025.11247688]
- 主要贡献: 设计了集成双旋转自由度的连续体机器人，提升了机器人的运动灵活性
X. Zhang, S. Yang, P. Yuan, Z. Song, T. Sun, D. T. Branson, and R. Kang, “A cyclotomic-linked kinematic model for continuum robots and its application in rigid-flexible hybrid arms.” IEEE International Conference on Robotics and Biomimetics (ROBIO), Chengdu, China, Dec. 2025, pp. 1338–1343.
CCF-C 类会议 | EI
[PDF] | [DOI: 10.1109/ROBIO66223.2025.11378300]
- 主要贡献: 提出了环链式运动学模型，并应用于刚柔混合臂系统

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最后更新：2026 年 3 月