Ang Zhang

Papers

Total Citations

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About

Ang Zhang is an emerging robotics researcher specializing in robotic manipulation planning and control, with a particular focus on the challenging problem of moving large, bulky objects using robotic systems. His work addresses a critical limitation in robotics: how robots with constrained kinematics and payload capacities can effectively manipulate objects that exceed their conventional capabilities. Zhang's most notable contribution is his development of a hierarchical manipulation planner that leverages environmental contact — through techniques such as pivoting, tumbling, and regrasping — to enable robots to handle general-shaped bulky objects. This innovative approach fundamentally expands what is achievable with standard robotic manipulators. Complementing this, his research on controlling pivoting gait using Graph Model Predictive Control demonstrates a sophisticated strategy for maintaining stability during iterative object tilting and rotation, even in the presence of external disturbances. With a combined citation count of 14 across his two most prominent works, both published in 2021, Zhang is establishing himself as a promising contributor to the field of robotic manipulation. His research has clear implications for industrial automation, warehouse logistics, and assistive robotics, where handling oversized or heavy objects remains an open and practically significant challenge.