Ziye Zheng — accepted AI-conference papers

2026

A Light-Weight Cable-Driven Anthropomorphic Manipulator: Decoupling Design, Kinematics Modeling and Stiffness Analysis

Lei Yan, Ziye Zheng, Bowen Zhou, Pengfei Xia, Wenfu Xu

RA-L 2026

Beyond pick-place and quasi-static manipulation, robots are increasingly expected to perform more interactive and dynamic tasks in our daily life. However, it is still very challenging for the traditional manipulator because of its high stiffness and large mass/inertia. To address the above issues,

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2026

HD-CDAM: A Heterogeneous Differential Cable-Driven Anthropomorphic Manipulator With High Payload-Weight Ratio

Lei Yan, Bowen Zhou, Ziye Zheng, Junpeng Gu, Wenfu Xu, Bin Liang

RA-L 2026

With the increasing demand for lightweight, large payload-to-weight ratio, and highly dynamic robotic arms for general-purpose applications, conventional designs inevitably face a significant trade-off among safety, payload capacity, and motion agility. This paper presents a 7 degree-of-freedom cabl

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