Selected publications

  1. IROS 2025 · Oral
    Semi-Peaucellier gripper grasping six objects of different shapes and sizes

    A Novel Gripper with Semi-Peaucellier Linkage and Idle-Stroke Mechanism for Linear Pinching and Self-Adaptive Grasping

    Haokai Ding, Wenzeng Zhang*

    [pdf] [doi] [demo]
  2. CASE 2025 · Oral
    SP-Diff gripper demonstrating six grasp configurations

    Semi-Peaucellier Linkage and Differential Mechanism for Linear Pinching and Self-Adaptive Grasping

    Haokai Ding, Zhaohan Chen, Tao Yang*, Wenzeng Zhang*

    [pdf] [doi]

See full publications list →

news

  • "An Underactuated Gripper with Independent Double-Parallelogram Linkages" is now available on IEEE Xplore. Congrats Yizhe!
  • Started a visiting appointment at the State Key Lab of Mechanical System and Vibration, Shanghai Jiao Tong University, with Prof. Wei Dong.
  • Received the National Scholarship from the Ministry of Education of China.
  • Won the Undergraduate Champion award at the ASME Student Mechanism & Robot Design Competition.

research

01 · underactuated grippers

Peaucellier linkages, idle-stroke mechanisms, and adaptive grasping strategies for dexterous manipulation with minimal actuators.

Peaucellier linkage · idle-stroke · adaptive grasping

02 · aerial manipulation

UAV perching mechanisms with electromagnetic adhesion systems for stable attachment and manipulation on varied surfaces.

UAV perching · electromagnetic adhesion · aerial robotics

projects

01 · semi-peaucellier gripper

An underactuated gripper that integrates an optimized Peaucellier linkage with idle-stroke transmission, achieving linear parallel pinching and shape-adaptive enveloping under a single motor.

Peaucellier linkage · idle-stroke · single-actuator · adaptive grasping

02 · GLINT in-hand manipulation

A grasp-and-lift hand that embeds phase switching directly into a lost-motion transmission, separating force-free alignment from force-transmitting lifting and offloading control burden onto the mechanism.

lost-motion · grasp-to-lift · in-hand manipulation · mechanical intelligence

03 · aerial manipulation @ SJTU

During my SJTU visit, I worked with Prof. Wei Dong on UAV perching and contact-rich aerial manipulation, exploring how mechanism-level designs translate to flying platforms.

UAV perching · aerial manipulation · contact-rich · mechanism design

education

Mohamed bin Zayed University of Artificial Intelligence

M.Sc. in Robotics

2026.08–present

Tsinghua University Tsien Excellence in Engineering Program · Shenzhen X-Institute

X Scholar in a joint training program focused on underactuated robotic grippers and linkage design.

2023.09–2026.09

Shenzhen Technology University

B.Eng. in Electronic Science and Technology, Future Technology School

2022.09–2026.07

experience

service

  • Conference reviewer for IEEE/RSJ IROS and IEEE CASE.
  • Conference session chair for IEEE/RSJ IROS 2025.

awards

selected honors