Selected publications

  1. A Novel Gripper with Semi-Peaucellier Linkage and Idle-Stroke Mechanism for Linear Pinching and Self-Adaptive Grasping [doi]
    H. Ding†, W. Zhang*
    IROS 2025
  2. Semi-Peaucellier Linkage and Differential Mechanism for Linear Pinching and Self-Adaptive Grasping [doi]
    H. Ding†, Z. Chen, T. Yang*, W. Zhang*
    CASE 2025

See full publications list →

news

  • Admitted to MSc in Robotics at MBZUAI (incoming).
  • "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

Ongoing visiting work 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

MSc in Robotics (Incoming)

2026.09–

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–present

Shenzhen Technology University

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

2022.09–2026.07

experience

Visiting Student · State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University

Visiting student with Prof. Wei Dong on UAV perching and aerial manipulation; developing controllers and mechanism designs for contact-rich UAV tasks.

2026.02–present

service

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

awards

selected honors