Differentiable Kinematics for Analysis and Gradient-Based Design of Generalized Parallel Mechanisms
Z. Xia, J. W. Zhang, Y. Xing, Chunxu Tian, D. Zhang
Mechanism and Machine Theory Accepted
2026 Link ↗
List of publications(论文集)
2026 14
-
-
Kinematic Neural Networks: A New Paradigm for Embodied Mechanical Intelligence
IEEE Robotics and Automation Letters Accepted2026 Link ↗ -
Object-Centric Alignment and Deformable Fusion for Unaligned RGBT Anti-UAV Tracking
-
Physically Aware Generative Design for Spatial Mechanism Synthesis: A Differentiable Diffusion-Refinement Framework
IEEE Robotics and Automation Letters Accepted2026 Link ↗ -
Towards Dexterous Embodied Manipulation via Deep Multi-Sensory Fusion and Sparse Expert Scaling
-
Design and Analysis of a Quadruped Wheel-Legged Robot Based on Virtual Equivalent Parallel Mechanism Theory
B. Wang, S. Liu, D. Zhang, Chunxu TianMechanism and Machine Theory Accepted; preprint: SSRN 69603192026 Link ↗ -
Reconfiguration-Complete Motion Primitives with Constructive Planning for Deformable Planar Modular Robots
J. Gu, T. Wang, H. Gao, Y. Sun, Z. Xia, Chunxu Tian, D. ZhangarXiv preprint arXiv:2608.173242026 Link ↗ -
SANTS: A State-Adaptive Scheduler for World Action Models
Y. Sun, G. Zhuge, K. Liu, J. Gu, X. Bing, Z. Gan, Chunxu TianarXiv preprint arXiv:2605.279472026 Link ↗ -
Design and Kinematic Performance Analysis of a Novel Asymmetric 1T1R Parallel Robot
Q. Zou, S. Zhang, Y. Shi, Y. Zhang, M. Jafari, G. Huang, Chunxu Tian2026 7th International Conference on Artificial Intelligence, Robotics, and Control (AIRC) Pages 177-1822026 Link ↗ -
Self-Reconfiguration Planning for Deformable Quadrilateral Modular Robots
J. Gu, H. Gao, Z. Xia, Y. Sun, Chunxu Tian, D. ZhangIEEE Robotics and Automation Letters Vol. 11, No. 6, Pages 7300-73072026 Link ↗ -
Rhombot: Rhombus-shaped Modular Robots for Stable, Medium-Independent Reconfiguration Motion
-
Mapping mechanical synthesis to a trainable task: A neural network approach for generalized parallel mechanisms
Z. Xia, X. Lao, Chunxu Tian, D. ZhangMechanism and Machine Theory Vol. 219, Article 1063372026 Link ↗ -
Design and analysis of a Bricard-inspired dexterous hand based on generalized parallel mechanisms
H. Li, B. Wang, Chunxu Tian, D. ZhangMechanism and Machine Theory Vol. 219, Article 1063402026 Link ↗ -
A Novel Reconfigurable Dexterous Hand Based on Triple-Symmetric Bricard Parallel Mechanism
Chunxu Tian, Z. Huang, H. Li, B. Wang, J. Jia, Y. Sun, D. ZhangarXiv preprint arXiv:2603.008922026 Link ↗
2025 13
-
基于深度信息的视频对象分割方法研究
D. Zhang, W. Zhong, Chunxu TianJournal of Fudan University (Natural Science) DOI: 10.15943/j.cnki.fdxb-jns.20251121.0012025 Link ↗ -
一种多模态可重构广义并联灵巧手的设计与分析
H. Li, Chunxu Tian, D. ZhangJournal of Fudan University (Natural Science) Vol. 64, No. 4, Pages 456-4662025 Link ↗ -
Type synthesis of a class of parallel RCM manipulators based on concentric spherical surfaces geometric model
L. Li, Chunxu Tian, Z. Xia, D. ZhangMechanism and Machine Theory Vol. 209, Article 1060112025 Link ↗ -
Design and analysis of pipeline inspection robot based on generalized parallel mechanisms
-
MODUR: A Modular Dual-reconfigurable Robot
J. Gu, T. L. Lam, Chunxu Tian, Z. Xia, Y. Xing, D. Zhang2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Conference paper2025 Link ↗ -
A Review on Kinematically Redundant Parallel Mechanisms With Configurable Platforms
-
UAUTrack: Towards Unified Multimodal Anti-UAV Visual Tracking
-
A Novel Synthesis Method for the Design of Origami-Based Parallel Mechanisms
Y. Xing, Chunxu Tian, B. Wang, D. Zhang2025 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pages 167-1722025 Link ↗ -
Advances in generalized parallel mechanisms: Coupling, configurable, and articulated designs
Z. Xia, Y. Xing, Chunxu Tian, D. ZhangMechanism and Machine Theory Vol. 218, Article 1062872025 Link ↗ -
A Reconfigurable Parallel Dexterous Hand Robot
-
Optimal design of a generalized single-loop parallel manipulator with RCM characteristic considering motion/force transmissibility
-
The novel synthesis of generalized parallel manipulators with 8R Kirigami-inspired configurable platform
Y. Xing, Chunxu Tian, Z. Xia, J. Gu and D. ZhangMechanism and Machine Theory Vol. 209 Pages 1060032025 Link ↗ -
The novel synthesis method of decoupled generalized parallel mechanisms based on motion transmission
Z. Xia, Chunxu Tian, Y. Xing, J. Gu, L. Li and D. ZhangMechanism and Machine Theory Vol. 210 Pages 1060192025 Link ↗
2024 12
-
A Low-Inertia Bionic Robot Walking Parallel Mechanism and Walking Method
Chunxu Tian, F. Gan, G. Yuan, C. Wang, C. Yuan and S. JiangInvention Patent CN202410251126.X2024 Link ↗ -
An Integrated Bionic Robotic Ankle Transmission Device
-
Grinding Visualization Rendering Method, System, Device, and Storage Medium for Surgical Navigation
-
Femur Prosthesis Model Pose Initialization Method, System, Equipment and Storage Medium
-
Research on the Structure Design Based on Cable Driven and Bounding Control Method of a Quadruped Robot with Double-Joint Spine
J. Ma, Chunxu Tian, L. Li, D. ZhangJournal of Fudan University (Natural Sciences) Vol. 63, No. 6, Pages 711-7232024 Link ↗ -
MOPARAS: A Modular Parallel Spherical Robot with Position-Adjustable Connectors
J. Gu, T. Lam, Chunxu Tian, L. Li, Z. Xia, D. ZhangInternational Conference on Intelligent Robotics and Applications Pages 363-3762024 Link ↗ -
The novel synthesis of mechanisms for continuous origami based on the topological graph theory
Z. Xia, Chunxu Tian, L. Li and D. ZhangMechanism and Machine Theory Vol. 204 Pages 1058572024 Link ↗ -
The novel synthesis of origami-inspired mechanisms based on graph theory
Z. Xia, Chunxu Tian, L. Li and D. ZhangMechanism and Machine Theory Vol. 192 Pages 1055472024 Link ↗ -
The novel synthesis of reconfigurable generalized parallel manipulators with kinematic redundancy
Chunxu Tian, Z. Xia, L. Li, D. ZhangMechanism and Machine Theory Vol. 201, Article 1057482024 Link ↗ -
Analysis of the Velocity of Two-Layer Generalized Parallel Manipulators
Chunxu Tian, Z. Huang, H. Li, F. Chen2024 IEEE International Conference on Mechatronics and Automation (ICMA) Pages 1694-16992024 Link ↗ -
A virtual parallel model for the buffer landing of multi-legged landing gear
J. Liu, D. Zhang, Chunxu Tian, W. Ma, Z. XiaMechanism and Machine Theory Vol. 200, Article 1057242024 Link ↗ -
A family of generalized single-loop RCM parallel mechanisms: structure synthesis, kinematic model, and case study
2023 3
-
A Design and Prototype Verification of an Active Diameter-Varying Pipeline Inspection Robot
W. Ma, D. Zhang, J. Liu, Chunxu Tian and Z. XiaJournal of Fudan University (Natural Sciences) Vol. 62, No. 5, Pages 627-6362023 Link ↗ -
Graph Synthesis of Generalized Parallel Mechanisms with Coupling Sub-chains
Chunxu Tian, L. Li, Z. Xia, D. ZhangIntelligent Robotics and Applications. ICIRA 2023 Pages 76-872023 Link ↗ -
A Novel Class of (3+2)-DOF Reconfigurable Generalized Parallel Mechanisms with Kinematic Redundancy
Chunxu Tian, L. Li, Z. Xia, D. ZhangMechanism and Machine Science. IFToMM WC 2023 Vol. 130, Pages 386-3952023 Link ↗
2022 8
-
A Four-Degree-of-Freedom Parallel Robot
-
A Parallel Robot
-
A Five-degree-of-freedom Parallel Mechanism with Large Rotation Angle
-
Multi-Functional UAV undercarriage and UAV
-
End-to-end SAR Ship Detection Method and System
Y. Chen, Z. Xia Zhihao, Chunxu Tian, J. Liu, C. Wu Chenwei and D. ZhangInvention Patent CN114581755B2022 Link ↗ -
A novel 6 DOFs generalized parallel manipulator design and analysis based on humanoid leg
Z. Xia, D. Zhang, Y. Chen, Chunxu Tian, J. Liu, C. WuMechanism and Machine Theory Vol. 176, Article 1050292022 Link ↗ -
A method for comprehensive performance optimization of four-leg landing gear based on the virtual equivalent parallel mechanism
-
An Approach for Modeling and Performance Analysis of Three-Leg Landing Gear Mechanisms Based on the Virtual Equivalent Parallel Mechanism
2021 5
-
Structure synthesis of reconfigurable generalized parallel mechanisms with configurable platforms
Chunxu Tian, D. Zhang, H. Tang, C. WuMechanism and Machine Theory Vol. 160, Article 1042812021 Link ↗ -
Reconfigurable Generalized Parallel Mechanisms with Kinematotropic Linkages
Chunxu Tian, D. Zhang, H. Tang, J. Liu2021 7th International Conference on Mechatronics and Robotics Engineering (ICMRE) Pages 185-1892021 Link ↗ -
Design and analysis of novel kinematically redundant reconfigurable generalized parallel manipulators
-
A Novel Terrain Adaptive Landing Gear Robot
H. Tang, Chunxu Tian, D. ZhangJournal of Physics Conference Series Vol. 1924, Article 0120212021 Link ↗ -
A multi-finger robot system for adaptive landing gear and aerial manipulation
J. Liu, D. Zhang, C. Wu, H. Tang, Chunxu TianRobotics and Autonomous Systems Vol. 146, Article 1038782021 Link ↗
2020 3
-
A Reconfigurable Parallel Robot Mechanism with Three Relative Degrees of Freedom
-
A novel class of generalized parallel manipulators with high rotational capability
Chunxu Tian, D. Zhang, J. LiuProceedings of the Institution of Mechanical Engineers, Part C Journal of Mechanical Engineering Science Vol. 234, No. 23, Pages 4599-46192020 Link ↗ -
A new family of generalized parallel manipulators with configurable moving platforms
2019 2
-
Structural Synthesis and Performance Study of Generalized Parallel Mechanisms
-
Design and analysis of a partially decoupled generalized parallel mechanism for 3T1R motion
2018 4
-
A Reconfigurable Parallel Mechanism with Five-Bar Kinematic Chains
-
Structure synthesis of reconfigurable parallel mechanisms with closed-loop metamorphic linkages
Chunxu Tian, Y. Fang, S. Guo, H. QuProceedings of the Institution of Mechanical Engineers, Part C Journal of Mechanical Engineering Science Vol. 232, No. 7, Pages 1303-13162018 Link ↗ -
Structural synthesis of a class of two-loop generalized parallel mechanisms
-
New Kinematic Structures for Two-Loop Generalized Parallel Mechanism Designs
Chunxu Tian, Y. Fang, Q. J. Ge2018 IEEE International Conference on Robotics and Automation (ICRA) Pages 956-9612018 Link ↗
2017 2
-
A class of reconfigurable parallel mechanisms with five-bar metamorphic linkage
Chunxu Tian, Y. Fang, S. Guo, H. QuProceedings of the Institution of Mechanical Engineers, Part C Journal of Mechanical Engineering Science Vol. 231, No. 11, Pages 2089-20992017 Link ↗ -
Structural synthesis of parallel manipulators with coupling sub-chains
2016 1
-
Structural synthesis of a class of 2R2T hybrid mechanisms
Chunxu Tian, Y. Fang, S. GuoChinese Journal of Mechanical Engineering Vol. 29, No. 4, Pages 703-7092016 Link ↗
2015 1
-
Optimization of the motion performanceof planar five-bar linkage using a genetic algorithm
G. Huang, Y. Fang, H. Qu, Chunxu TianJournal of Beijing Jiaotong University Vol. 39, No. 4, Pages 44-492015 Link ↗