Xin Zhang
Current Organizations / Institutes
The organizations/institutes from the scholar's latest article
Previous Organizations / Institutes
The organizations / institutes from the scholar's other articles in the past ten years
Research Subjects
Xin Zhang has a total of 10 co-authors. Here are the top co-authors by number of shared publications:
- Jie Zhao
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
3 shared publications - Jihong Yan
Harbin Institute of Technology
3 shared publications - Kai Yang
State Key Laboratory of Robotics and Systems, Laboratory for Space Environment and Physical Sciences, Harbin Institute of Technology, Harbin, China
2 shared publications - Jian Hou
School of Computer Science and Technology, Zhejiang Sci-Tech University, Hangzhou 310018, China
1 shared publication - Lingyan Zeng
School of Energy Science and Engineering, Harbin Institute of Technology, Harbin, China
1 shared publication - Shufeng Tang
School of Mechanical Engineering, Inner Mongolia University of Technology, Hohhot 010051, China
1 shared publication
Latest Publications
- 27 January 2025
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Robotics and Automation Letters
- Vol. 10 (3) , 2758-2765
A Small Water Surface Jumping Robot Utilizing Efficient Hydrodynamic Resistance Based on Rapid Recoil Design
The energy of water surface jumping is easily lost due to the fluidity and splashing of water. As the robot's size and mass increase, its jumping performance is more significantly affected. The key to increasing the robot's takeoff velocity is enhancing the impulse generated by efficient hydrodynamic resistance, which is primarily related to the stored energy and the leg paddling velocity. By designing and optimizing an energy storage mechanism based on the coupling of latex and carbon fiber, and a torque-reversing driving mechanism based on a double-four-bar linkage, the movement speed of the driving plate was increased, resulting in greater hydrodynamic resistance and thus enhancing the robot's take-off impulse. The robot has dimensions of 270 mm × 195 mm × 135 mm and weights 185 g. Its jumping performance is analyzed through jumping dynamic simulations on water surface and verified by experiments. And the load capacity of the robot was also tested. The robot's takeoff velocity is 4.11 m/s, with a maximum jumping height of 748 mm and jumping distance of 1176 mm.
- 27 January 2025
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Robotics and Automation Letters
- Vol. 10 (3) , 2758-2765
A Small Water Surface Jumping Robot Utilizing Efficient Hydrodynamic Resistance Based on Rapid Recoil Design
The energy of water surface jumping is easily lost due to the fluidity and splashing of water. As the robot's size and mass increase, its jumping performance is more significantly affected. The key to increasing the robot's takeoff velocity is enhancing the impulse generated by efficient hydrodynamic resistance, which is primarily related to the stored energy and the leg paddling velocity. By designing and optimizing an energy storage mechanism based on the coupling of latex and carbon fiber, and a torque-reversing driving mechanism based on a double-four-bar linkage, the movement speed of the driving plate was increased, resulting in greater hydrodynamic resistance and thus enhancing the robot's take-off impulse. The robot has dimensions of 270 mm × 195 mm × 135 mm and weights 185 g. Its jumping performance is analyzed through jumping dynamic simulations on water surface and verified by experiments. And the load capacity of the robot was also tested. The robot's takeoff velocity is 4.11 m/s, with a maximum jumping height of 748 mm and jumping distance of 1176 mm.
- 13 November 2023
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics
- Vol. 40 (15523098) , 764-776
A Miniature Water Jumping Robot Based on Accurate Interaction Force Analysis
Water jumping motion extends the robot's movement space and flexibility. However, the jumping performance is influenced by multiple factors such as driving force, rowing trajectory and robot structure. The interaction force between the robot and water surface is complicated due to water deformation, and the difficulty of the water jumping increases with the robot's scale. This paper designs a miniature water jumping robot with rowing driving legs. The hydrodynamic model between driving legs and water is established based on the modified Wagner theory with consideration of water surface deformation. Particularly, the dynamic model of the robot for the whole jumping process is also developed relate to multiple factors. Then the jumping performance is improved by optimizing the energy storage modality, rowing trajectory and supporting leg shapes through the theoretical analysis and experiments. The fabricated robot weights 91 g, and its length, width and height are 220 mm, 410 mm and 95 mm respectively. The maximum water jumping height and distance are 241 and 965 mm.
- 13 November 2023
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics
- Vol. 40 (15523098) , 764-776
A Miniature Water Jumping Robot Based on Accurate Interaction Force Analysis
Water jumping motion extends the robot's movement space and flexibility. However, the jumping performance is influenced by multiple factors such as driving force, rowing trajectory and robot structure. The interaction force between the robot and water surface is complicated due to water deformation, and the difficulty of the water jumping increases with the robot's scale. This paper designs a miniature water jumping robot with rowing driving legs. The hydrodynamic model between driving legs and water is established based on the modified Wagner theory with consideration of water surface deformation. Particularly, the dynamic model of the robot for the whole jumping process is also developed relate to multiple factors. Then the jumping performance is improved by optimizing the energy storage modality, rowing trajectory and supporting leg shapes through the theoretical analysis and experiments. The fabricated robot weights 91 g, and its length, width and height are 220 mm, 410 mm and 95 mm respectively. The maximum water jumping height and distance are 241 and 965 mm.
- 14 January 2022
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Robotics and Automation Letters
- Vol. 7 (2) , 2463-2470
A Rapid Water Sliding Robot Optimized by Bionic Motion Trajectory
Water striders slide agilely and quickly on the water surface with the spatial elliptical rowing trajectory, it has attracted the research interest of scholars. But the existing bionic robots did not realize the level of it and generally suffer from slow speed and weak load capacity. Inspired by the trajectory of the water strider, the influence of its shape, size and velocity to the robot speed was analyzed by the numerical method. Based on the optimization parameters, the dexterous driving mechanism with a single motor is designed to achieve the spatial elliptical rowing trajectory within the restricted size and weight. The robot is manufactured with a mass and load capacity of 863 g and 600 g, respectively. The experiment of the sliding motion on the water was carried out. Its forward and turning speed are 625 mm/s and 45 °/s respectively, and the speed/body length ratio is higher than the other similar robots. It also has been verified that the robot can slide in the disturbance environment with wind speed of 2.3 m/s and wave height of 210 mm.
- 14 January 2022
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Robotics and Automation Letters
- Vol. 7 (2) , 2463-2470
A Rapid Water Sliding Robot Optimized by Bionic Motion Trajectory
Water striders slide agilely and quickly on the water surface with the spatial elliptical rowing trajectory, it has attracted the research interest of scholars. But the existing bionic robots did not realize the level of it and generally suffer from slow speed and weak load capacity. Inspired by the trajectory of the water strider, the influence of its shape, size and velocity to the robot speed was analyzed by the numerical method. Based on the optimization parameters, the dexterous driving mechanism with a single motor is designed to achieve the spatial elliptical rowing trajectory within the restricted size and weight. The robot is manufactured with a mass and load capacity of 863 g and 600 g, respectively. The experiment of the sliding motion on the water was carried out. Its forward and turning speed are 625 mm/s and 45 °/s respectively, and the speed/body length ratio is higher than the other similar robots. It also has been verified that the robot can slide in the disturbance environment with wind speed of 2.3 m/s and wave height of 210 mm.