Papers
14
Total Citations
131
H-Index
7
About
Zhengtao Hu is a roboticist whose research advances the dexterity, adaptability, and precision of robotic systems through innovations in mechanical design, soft robotics, and dynamic control. His work spans three key areas: gripper and tool design, where he created a mechanical tool for two-finger parallel grippers (37 citations) that extends functionality without additional actuators; assembly and manipulation, where he demonstrated that a high-compliance soft wrist can dramatically improve peg-in-hole assembly in uncertain environments (24 citations); and dynamic modeling and control, where he developed Lie-theory-based identification methods and adaptive neural computed torque control to handle nonlinear friction and asymmetric loads (11 and 9 citations respectively). Hu also pioneered stiffness-changeable soft fingers using chain mail jamming (9 citations), enabling adaptive grasping and in-hand manipulation, and extended this concept to wearable robotic supporters for human upper limbs (4 citations). His regrasp planning method on triangular corner fixtures reduces grasp uncertainty (11 citations), and his recent work on visual servoing for robotic TBM disc cutter replacement (4 citations) addresses real-world industrial automation challenges. With over 120 total citations and a growing portfolio of high-impact publications from 2019 to 2025, Hu is establishing himself as a versatile researcher whose contributions bridge fundamental mechanics and practical robotic applications.
Research Focus
Key Achievements
Top Papers
- 1Designing a Mechanical Tool for Robots With Two-Finger Parallel Grippers37 citations · 2019
- 2Compliant Peg-in-Hole Assembly Using a Very Soft Wrist24 citations · 2023
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- 5A Stiffness-Changeable Soft Finger Based on Chain Mail Jamming9 citations · 2023
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