Publications

Differentiable Kinematics for Analysis and Gradient-Based Design of Generalized Parallel Mechanisms

Mechanism and Machine Theory.

Physically Aware Generative Design for Spatial Mechanism Synthesis: A Differentiable Diffusion-Refinement Framework

IEEE Robotics and Automation Letters.

Reconfiguration-Complete Motion Primitives with Constructive Planning for Deformable Planar Modular Robots

Jie Gu, Tingting Wang, Hongrun Gao, Yirun Sun, Zhihao Xia, Chunxu Tian, and Dan Zhang.

arXiv, arXiv:2608.17324.

Self-Reconfiguration Planning for Deformable Quadrilateral Modular Robots

Jie Gu, Hongrun Gao, Zhihao Xia, Yirun Sun, Chunxu Tian, and Dan Zhang.

IEEE Robotics and Automation Letters, 11(6):7300-7307.

Mapping mechanical synthesis to a trainable task: A neural network approach for generalized parallel mechanisms

Zhihao Xia, Xinhua Lao, Chunxu Tian, and Dan Zhang.

Mechanism and Machine Theory, 219:106337.

Towards Dexterous Embodied Manipulation via Deep Multi-Sensory Fusion and Sparse Expert Scaling

Yirui Sun, Guangyu Zhuge, Keliang Liu, Jie Gu, Zhihao Xia, Qionglin Ren, Chunxu Tian, and Zhongxue Gan.

arXiv, arXiv:2602.19764.

RhoMorph: Rhombus-Shaped Deformable Modular Robots for Stable, Medium-Independent Reconfiguration Motion

Jie Gu, Yirui Sun, Zhihao Xia, Tin Lun Lam, Chunxu Tian, and Dan Zhang.

arXiv, arXiv:2601.19529.

Advances in generalized parallel mechanisms: Coupling, configurable, and articulated designs

Zhihao Xia, Yongheng Xing, Chunxu Tian, and Dan Zhang.

Mechanism and Machine Theory, 218:106287.

MODUR: A Modular Dual-reconfigurable Robot

Jie Gu, Tin Lun Lam, Chunxu Tian, Zhihao Xia, Yongheng Xing, and Dan Zhang.

2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 10212-10219.

The novel synthesis method of decoupled generalized parallel mechanisms based on motion transmission

Zhihao Xia, Chunxu Tian, Yongheng Xing, Jie Gu, Luquan Li, and Dan Zhang.

Mechanism and Machine Theory, 210:106019.

Type synthesis of a class of parallel RCM manipulators based on concentric spherical surfaces geometric model

Luquan Li, Chunxu Tian, Zhihao Xia, and Dan Zhang.

Mechanism and Machine Theory, 209:106011.

The novel synthesis of generalized parallel manipulators with 8R Kirigami-inspired configurable platform

Yongheng Xing, Chunxu Tian, Zhihao Xia, Jie Gu, and Dan Zhang.

Mechanism and Machine Theory, 209:106003.

Optimal design of a generalized single-loop parallel manipulator with RCM characteristic considering motion/force transmissibility

Luquan Li, Chunxu Tian, Zhihao Xia, and Dan Zhang.

Robotica, 43(3):851-867.

MOPARAS: A Modular Parallel Spherical Robot with Position-Adjustable Connectors

Jie Gu, Tin Lun Lam, Chunxu Tian, Zhihao Xia, and Dan Zhang.

International Conference on Intelligent Robotics and Applications (ICIRA 2024), pp. 363-376.

The novel synthesis of mechanisms for continuous origami based on the topological graph theory

Zhihao Xia, Chunxu Tian, Luquan Li, and Dan Zhang.

Mechanism and Machine Theory, 204:105857.

The novel synthesis of reconfigurable generalized parallel manipulators with kinematic redundancy

Chunxu Tian, Zhihao Xia, Luquan Li, and Dan Zhang.

Mechanism and Machine Theory, 201:105748.

A virtual parallel model for the buffer landing of multi-legged landing gear

Jian Liu, Dan Zhang, Chunxu Tian, Weizhan Ma, and Zhihao Xia.

Mechanism and Machine Theory, 200:105724.

The novel synthesis of origami-inspired mechanisms based on graph theory

Zhihao Xia, Chunxu Tian, Luquan Li, and Dan Zhang.

Mechanism and Machine Theory, 192:105547.

Design and Prototype Validation of an Active Variable-Diameter Pipeline Inspection Robot

Weizhan Ma, Dan Zhang, Jian Liu, Chunxu Tian, and Zhihao Xia.

Journal of Fudan University (Natural Science), 62(5):627-636.

A Novel Class of (3+2)-DOF Reconfigurable Generalized Parallel Mechanisms with Kinematic Redundancy

Chunxu Tian, Luquan Li, Zhihao Xia, and Dan Zhang.

IFToMM World Congress on Mechanism and Machine Science, pp. 386-395.

Graph Synthesis of Generalized Parallel Mechanisms with Coupling Sub-chains

Chunxu Tian, Luquan Li, Zhihao Xia, and Dan Zhang.

International Conference on Intelligent Robotics and Applications (ICIRA 2023), pp. 76-87.

A novel 6 DOFs generalized parallel manipulator design and analysis based on humanoid leg

Zhihao Xia, Dan Zhang, Yanyu Chen, Chunxu Tian, Jian Liu, and Chenwei Wu.

Mechanism and Machine Theory, 176:105029.

TSDet: End-to-End Method with Transformer for SAR Ship Detection

Yanyu Chen, Zhihao Xia, Jian Liu, and Chenwei Wu.

2022 International Joint Conference on Neural Networks (IJCNN), pp. 1-8.

Design of a class of generalized parallel mechanisms for adaptive landing and aerial manipulation

Jian Liu, Dan Zhang, Yanyu Chen, Zhihao Xia, and Chenwei Wu.

Mechanism and Machine Theory, 170:104692.