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Multi-Scale Embodied Intelligence Lab
Intelligent Robotics Across Scales
email: d.zhang17@imperial.ac.uk
Selected Publications
2024
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D. Zhang*, J. Zheng, "Towards the New Generation of Smart Homecare with IoHIRT: Internet of Humans and Intelligent Robotic Things", under review.
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D. Zhang*, Z. Wu, J. Zheng, Y. Li, Z. Dong, J. Lin, "HuBotVerse: A Mixed Reality-Aided Cloud-Based Framework", under revision.
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W. Fan*, H. Li*, W. Si, S. Luo, N. Lepora, D. Zhang*, "ViTacTip: Design and Verification of a Novel Biomimetic Physical Vision-Tactile Fusion Sensor", under review.
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Peiyang Jiang, Dandan Zhang*, "A Digital Twin-Driven Immersive Teleoperation Framework for Robot-Assisted Microsurgery", under review.
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P. Jiang, W. Li, Y. Li, D. Zhang*, "Adaptive Motion Scaling for Robot-Assisted Microsurgery Based on Hybrid Offline Reinforcement Learning and Damping Control", under review.
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Q. Cong, W. Fan, D. Zhang, "TacFR-Gripper: A Reconfigurable Fin Ray-Based Compliant Robotic Gripper with Tactile Skin for In-Hand Manipulation", under review.
Selected Publications
2023
Dandan Zhang∗, Thomas E. Gorochowski, Lucia Marucci1, Hyun-Taek Lee, Bruno Gil, Bing Li, Sabine Hauert and Eric Yeatman,
"Advanced medical micro-robotics for early diagnosis and therapeutic interventions", Frontiers in Robotics and AI.
DOI: https://doi.org/10.3389/frobt.2022.1086043
Paper: https://www.frontiersin.org/articles/10.3389/frobt.2022.1086043/full
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Wen Fan, Max Yang, Yifan Xing, Nathan F. Lepora, Dandan Zhang∗,
"Tac-VGNN: A Voronoi Graph Neural Network for Pose-Based Tactile Servoing", 2023 IEEE International Conference on Robotics and Automation (ICRA).​
DOI: 10.1109/ICRA48891.2023.10160288
Paper: https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=10160288
Webpage: https://sites.google.com/view/tac-vgnn/home
Video: https://www.youtube.com/watch?v=3HOnGJ0geD0
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Zhuochao He, Xuyang Zhang, Simon Jones, Sabine Hauert, Dandan Zhang, and Nathan F. Lepora.
"TacMMs: Tactile Mobile Manipulators for Warehouse Automation." IEEE Robotics and Automation Letters (RAL).
DOI: 10.1109/LRA.2023.3287363
Paper: https://ieeexplore.ieee.org/abstract/document/10155191
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Wen Fan∗ , Xiaoqing Guo∗ , Enyang Feng∗ , Jialin Lin∗ , Yuanyi Wang, Jiaming Liang, Martin Garrad, Jonathan Rossiter, Zhengyou Zhang, Nathan Lepora, Lei Wei, Dandan Zhang*.
"A Digital Twin-Driven Mixed Reality Framework for Immersive Teleoperation with Haptic Rendering", 2023 IEEE Robotics and Automation Letters (RAL).
DOI: 10.1109/LRA.2023.3325784
Paper: https://ieeexplore.ieee.org/abstract/document/10287552
Webpage: https://sites.google.com/view/hbts-brl/home
Video: https://www.youtube.com/watch?v=8TvQJ_679fM
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M. Yang, Y. Lin, A. Church, J. Lloyd, D. Zhang, D. A. W. Barton, N. Lepora,
"Sim-to-Real Model-Based and Model-Free Deep Reinforcement Learning for Tactile Pushing", 2023 IEEE Robotics and Automation Letters (RAL).
DOI: 10.1109/LRA.2023.3295236
Paper: https://ieeexplore.ieee.org/abstract/document/10182274
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Y. Lin, A. Church, M. Yang, H. Li, J. Lloyd, D. Zhang, N. Lepora,
"Bi-Touch: Bimanual Tactile Manipulation with Sim-to-Real Deep Reinforcement Learning", 2023 IEEE Robotics and Automation Letters.
Paper: https://ieeexplore.ieee.org/document/10184426
Joe A. Smith, Dandan Zhang, and Krishna C. Balram. "Robotic vectorial field alignment for spin-based quantum sensors", Published Advanced Science.
Yijiong Lin*, Mauro Comi, Alex Church, Dandan Zhang, Nathan Lepora, "Tactile Saliency Prediction for Robust Sim-to-Real Tactile Control", 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Accepted.
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Zhili Yuan, Dandan Zhang*, ‘Hierarchical Semi-Supervised Learning for Surgical Gesture Segmentation and Recognition Based on Multi-Modality Data’, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Accepted.
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Jialin Lin, Xiaoqing Guo, Wen Fan, Wei Li, Yuanyi Wang, Jiaming Liang, Jindong Liu, Weiru Liu, Lei Wei, Dandan Zhang*, "TIMS: A Tactile Internet-Based Manipulation System with Haptic Guidance for Surgical Training", 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Accepted.
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2022
Dandan Zhang∗, Antoine Barbot, Florent Seichepine, Frank P.-W. Lo, Wenjia Bai, Guang-Zhong Yang, and Benny Lo, “Micro/Nano-Objects Pose Estimation Via a Sim-to-Real Learning-to-Match Approach Using Small Dataset”, Communication Physics-Nature Portfolio.
(SCI Indexed, JCR Q1, IF: 6.4), doi: 10.1038/s42005-022-00844-z
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Dandan Zhang∗#, Zicong Wu#, Junhong Chen#, Ruiqi Zhu, Adnan Munawar, Bo Xiao, Yuan Guan, Hang Su, Wuzhou Hong, Yao Guo, Gregory S. Fischer, Benny Lo, Guang-Zhong Yang, "Human-Robot Shared Control for Surgical Robot Based on Context-Aware Sim-to-Real Adaptation". 2022 IEEE International Conference on Robotics and Automation (ICRA).
(winner of the best interaction paper award)
Paper: https://arxiv.org/abs/2204.11116
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Ruiqi Zhu, Dandan Zhang∗, Benny Lo, “Deep Reinforcement Learning Based Semi-Autonomous Control for Robotic Surgery”, 2022 Hamlyn Symposium on Medical Robotics.
Paper: https://easychair.org/publications/preprint/kHwb
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Hang Su, Wen Qi, Jiahao Chen, Dandan Zhang, “Fuzzy Approximation-based Task-Space Control of Robot Manipulators With Remote Center of Motion Constraint”, Accepted, IEEE Transactions on Fuzzy Systems.
Paper: https://ieeexplore.ieee.org/document/9729601
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Dandan Zhang, Weiyong Si, Wen Fan, Yuan Guan, Chenguang Yang*, “From Teleoperation to Autonomous Robot-Assisted Microsurgery: A Survey”, Machine Intelligence Research.
Paper: https://link.springer.com/article/10.1007/s11633-022-1332-5
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Dandan Zhang*, Yunxiao Ren, Antoine Barbot, Florent Seichepine, Benny Lo, Zhuochen Ma*, Guang-Zhong Yang*, “Fabrication and Optical Manipulation of Microrobots for Biomedical Applications”, Matter-Cell Press.
Paper: https://www.cell.com/matter/pdf/S2590-2385(22)00402-7.pdf
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Wei Li, Dandan Zhang, Benny Lo, “Design and Modeling of A Spring-Like Continuum Joint with Variable Pitch for Endoluminal Surgery“, Accepted, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
(nominated as the best paper award)
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Wen Fan, Hongbo Bo, Yijiong Lin, Yifan Xing, Weiru Liu, Nathan Leopora, Dandan Zhang*, "Graph Neural Networks for Interpretable Tactile Sensing". (nominated as the best student paper award)
Paper: https://research-information.bris.ac.uk/en/publications/graph-neural-networks-for-interpretable-tactile-sensing
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Dandan Zhang∗, Wen Fan, John Lloyd, Chenguang Yang, Nathan Lepora, “One-Shot Domain-Adaptive Imitation Learning via Progressive Learning”, IEEE Transactions on Automation Science and Engineering.
2021
Dandan Zhang, Qiang Li, Yu Zheng*, Lei Wei, Dongsheng Zhang, and Zhengyou Zhang. “Explainable Hierarchical Imitation Learning for Robotic Drink Pouring”, IEEE Transactions on Automation Science and Engineering.
https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=9667114
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Ruoxi Wang, Dandan Zhang*, Benny Lo, “Real-time Surgical Environment Enhancement for Robot-Assisted Minimally Invasive Surgery Based on Super-Resolution”, 2021 IEEE International Conference on Robotics and Automation (ICRA).
https://ieeexplore.ieee.org/document/9561393
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Dandan Zhang*, Ruoxi Wang, Benny Lo, “Surgical Gesture Recognition Based on Bidirectional Multi-Layer Independently RNN with Explainable Spatial Feature Extraction”, Accepted, 2021 IEEE International Conference on Robotics and Automation (ICRA).
https://ieeexplore.ieee.org/document/9561803
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Anzhu Gao, Robin R Murphy, Weidong Chen, Giulio Dagnino, Peer Fischer Maximiliano Gutierrez Dennis Kundrat, Bradley J Nelson, Naveen Shamsudhin, Hao Su, Jingen Xia, Ajmal Zemmar, Dandan Zhang, Chen Wang, Guang-Zhong Yang*, "Progress in robotics for combating infectious diseases", Science Robotics.
2020
Dandan Zhang*, Antoine Barbot, Benny Lo, Guang-Zhong Yang*, “Distributed Force Control for Microrobot 6D Dexterous Manipulation Via Planar Multi-Spot Optical Tweezer”, Advanced Optical Materials,
(SCI Indexed, JCR Q1, IF: 8.3), doi:10.1002/adom.202000543.
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Dandan Zhang*, Frank P.-W. Lo, Jianqing Zheng, Wenjia Bai, Guang-Zhong Yang*, Benny Lo, “Data-Driven Microscopic Pose and Depth Estimation for Optical Microrobot Manipulation”, ACS Photonics.
(SCI Indexed, JCR Q1, IF: 7.3), doi:10.1021/acsphotonics.0c00997.
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Dandan Zhang*, Jindong Liu, Anzhu Gao, Guang-Zhong Yang*, “An Ergonomic Shared Workspace Analysis Framework for the Optimal Placement of a Compact Master Control Console”, IEEE Robotics and Automation Letters.
(SCI Indexed, JCR Q1, IF: 3.6), doi:10.1109/LRA.2020.2974428
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Dandan Zhang*, Zicong Wu, Junhong Chen, Anzhu Gao, Xu Chen, Peichao Li, Zhaoyang Wang, Guitao Yang, Benny Lo*, Guang-Zhong Yang*, “Automatic Microsurgical Skill Assessment Based on Cross-Domain Transfer Learning”, IEEE Robotics and Automation Letters.
(SCI Indexed, JCR Q1, IF: 3.6), doi:10.1109/LRA.2020.2989075
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Junhong Chen#, Dandan Zhang#* (equal contribution), Adnan Munawar, Gregory S. Fischer, Guang-Zhong Yang, “Supervised Semi-Autonomous Control for Surgical Robot Based on Bayesian Optimization”, Accepted, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
(EI Indexed), doi: 10.1109/IROS45743.2020.9341383
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Christopher J Payne*, Khushi Vyas, Daniel Bautista-Salina, Dandan Zhang, Hani J Marcus, Guang-Zhong Yang, “Shared Control Robot”, Book Chapter for Neurosurgical Robotics: Basic Concepts in Robotics. (Book Chapter),
doi:10.1007/978-1-0716-0993-4_4
https://link.springer.com/protocol/10.1007/978-1-0716-0993-4_4
2019
Dandan Zhang*, Bo Xiao, Baoru Huang, Lin Zhang, Jindong Liu, Guang-Zhong Yang, “A Self-Adaptive Motion Scaling Framework for Surgical Robot Remote Control”, IEEE Robotics and Automation Letters.
(SCI Indexed, JCR Q1, IF: 3.6), doi:10.1109/lra.2018.2890200
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Dandan Zhang*, Francesco Cursi, Guang-Zhong Yang, “WSRender: A Workspace Analysis and Visualization Toolbox for Robotic Manipulator Design and Verification”, IEEE Robotics and Automation Letters.
(SCI Indexed, JCR Q1, IF: 3.6), doi:10.1109/LRA.2019.2929986
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Dandan Zhang*, Junhong Chen, Daniel Bautista Salinas, Guang-Zhong Yang, “A Microsurgical Robot Research Platform for Robot-Assisted Microsurgery Research and Training”, International Journal of Computer Assisted Radiology and Surgery.
(SCI Indexed, JCR Q3, IF: 2.4), doi:10.1007/s11548-019-02074-1
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Dandan Zhang*, Jindong Liu, Lin Zhang, Guang-Zhong Yang, “Design and Verification of a Portable Master Manipulator Based on an Effective Workspace Analysis Framework”, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
(EI Indexed), doi: 10.1109/IROS40897.2019.8968542
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Dandan Zhang*, Yao Guo, Junhong Chen, Jindong Liu, Guang-Zhong Yang, “A Handheld Master Controller for Robot-Assisted Microsurgery”, 2019 IEEE/RSJ International Conference on Intelligent Robots and System (IROS).
(EI Indexed), doi: 10.1109/IROS40897.2019.8967774
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Dandan Zhang*, Jindong Liu, Lin Zhang, Guang-Zhong Yang, “Hamlyn CRM: A Compact Master Manipulator for Surgical Robot Remote Control”, International Journal of Computer Assisted Radiology and Surgery.
(SCI Indexed, JCR Q3, IF: 2.4), doi:10.1007/s11548-019-02112-y
https://link.springer.com/article/10.1007/s11548-019-02112-y
2016-2018
Dandan Zhang, Dangxiao Wang*, “WALS-Robot: A Compact and Transformable Wheel-Arm-Leg-Sucker Hybrid Robot”, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
(EI Indexed), doi: 10.1109/IROS.2016.7759402