Zhengping Duan

Nanjing University of Aeronautics and Astronautics

Papers

Total Citations

H-Index

About

Zhengping Duan is an emerging robotics researcher whose work centers on the design and optimization of underactuated robotic hands, with a particular focus on advancing dexterous grasping capabilities for humanoid robots. His research systematically explores the mechanical architecture of underactuated fingers, spanning self-adaptive, coupled, and parallel grasping modes, while investigating diverse transmission mechanisms including linkage, tendon-pulley, and rack-crank-slider systems. Duan's contributions extend from foundational two-degree-of-freedom underactuated finger designs to more biomimetic, human-like three-phalanx configurations, reflecting a clear trajectory toward naturalistic robotic manipulation. A distinguishing aspect of his methodology is the integration of genetic algorithms into the gripper design process, enabling a data-driven, optimization-first approach that challenges conventional trial-and-error mechanism development. His 2024 paper introducing the rack-and-pinion crank-slider mechanism demonstrates a sophisticated synthesis of parallel grasping and self-adaptive manipulation within a single actuated degree of freedom—a notable engineering achievement. With a growing citation record across his 2024 publications, Duan represents a promising voice in robotic hand design, contributing meaningful theoretical and practical advances to a field critical for the future of humanoid robotics and intelligent automation.