Zhongkai Zhang

Position : Research engineer.
Affiliation : INRIA, France.
Projects : Vision-based Calibration, Position Control and Force Sensing for Soft Robots
Address : INRIA Lille-Nord Europe, Bat A, 40 Avenue Halley, 59650 Villeneuve d’Ascq, France.
Mail : zhongkai.zhang@inria.fr

Research Background: mechanics/mechanical engineering, robotics, modelling, control techniques, image processing, finite element analysis, mechanical design and fabrication, tissue biomechanics.

 

Publications:

Thesis:

Vision-based Calibration, Position Control and Force Sensing for Soft Robots                     

Zhongkai Zhang

INRIA & University of Lille, January 10, 2019,Pdf

Journal articles:

Calibration and External Force Sensing for Soft Robots using RGB-D Camera
Z. Zhang
, A. Petit, J. Dequidt, and C. Duriez
IEEE Robotics and Automation Letters, 2019, PagePdf.

Motion Control of Cable-Driven Continuum Catheter Robot through Contacts
Z. Zhang
, J. Dequidt, J. Back, H. Liu, and C. Duriez
IEEE Robotics and Automation Letters, 2019,  Page, Pdf.

Vision-Based Sensing of External Forces Acting on Soft Robots Using Finite Element Method
Z. Zhang
, J. Dequidt, and C. Duriez
IEEE Robotics and Automation Letters, 2018, Page, Pdf, Video 

Finite Element Method-Based Kinematics and Closed-Loop Control of Soft, Continuum Manipulators
T. Morales Bieze, F. Largilliere, A. Kruszewski, Z. Zhang, R. Merzouki and C. Duriez
Soft Robotics, 2018, Pdf

Software toolkit for modeling, simulation and control of soft robots.
E. Coevoet, T. Morales-Bieze, F. Largilliere, Z. Zhang, M. Thieffry, M. Sanz-Lopez, B. Carrez, D. Marchal, O. Goury, J. Dequidt, C. Duriez
Advanced Robotics 2017, PagePdf  (Best Paper Award)

Conference papers:

Visual Servoing Control of Soft Robots based on Finite Element Model
Z. Zhang, T. Bieze, J. Dequidt, A. Kruszewski, and C. Duriez
International Conference on Intelligent Robots and Systems (IROS), 2017, Page, Pdf

Kinematic Modeling and Observer Based Control of Soft Robot using Real-Time Finite Element Method
Z. Zhang, J. Dequidt, A. Kruszewski, F. Largilliere and C. Duriez
International Conference on Intelligent Robots and Systems (IROS), 2016, PagePdf

Framework for online simulation of soft robots with optimization-based inverse model.
C. Duriez, E. Coevoet, F. Largilliere, T. Bieze, Z. Zhang, M. Sanz-Lopez, B. Carrez, D. Marchal, O. Goury, J. Dequidt
IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots
 (SIMPAR), 2016, Page, Pdf, Video (Best Paper Finalists)

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