Zhe Xu, PhD

Zhe Xu and Emanuel Todorov, Design of a Highly Biomimetic Anthropomorphic Robotic Hand towards Artificial Limb Regeneration, to appear IEEE International Conference on Robotics and Automation, 2016 (ICRA'16)

Sarah Elliott, Zhe Xu, and Maya Cakmak, Synthesizing Surface Cleaning Actions from Learned Motion Templates, submitted to IEEE International Conference on Robotics and Automation, 2016 (ICRA'16)


Zhe Xu and Maya Cakmak, Enhanced Robotic Cleaning with a Low-cost Tool Attachment, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014 (IROS'14)


Zhe Xu and Maya Cakmak, Robot Factors: An Alternative Approach for Closing the Gap in Human versus Robot Manipulation, Robotics: Science and Systems (RSS) Workshop: Human versus Robot Grasping and Manipulation -- How Can We Close the Gap, Berkeley, 2014

Zhe Xu, Travis Deyle, and Charles C. Kemp. 1000 Trials: An Empirically Validated End Effector that Robustly Grasps Objects from the Floor, IEEE International Conference on Robotics and Automation, 2009 (ICRA'09)

Zhe Xu, Vikash Kumar, Yoky Matsuoka and Emanuel Todorov, Design of an Anthropomorphic Robotic Finger System with Biomimetic Artificial Joints, In Proceedings of the IEEE International conference on Biomedical Robotics and Biomechatronics, 2012 (Biorob’12).

Zhe Xu, Emanuel Todorov, Brian Dellon and Yoky Matsuoka. Design and Analysis of an Artificial Finger Joint for Anthropomorphic Robotic Hands, IEEE International Conference on Robotics and Automation, 2011 (ICRA'10)

Zhe Xu, Second place, Beijing Collegiate Mechanical Innovation Contest, June 2004​

Zhe Xu, Vikash Kumar and Emanuel Todorov, A Low-cost and Modular, 20-DOF Anthropomorphic Robotic Hand: Design, Actuation and Modeling, In Proceedings of the IEEE-RAS International Conference on Humanoid Robots, 2013 (Humanoids'13)

Vikash Kumar, Zhe Xu, Emanuel Todorov, Fast, Strong and Compliant Pneumatic Actuation for Dexterous Tendon-driven Hands. IEEE International Conference on Robotics and Automation, 2013 (ICRA'13)

Past projects and videos

Zhe Xu, Svetoslav Kolev and Emanuel Todorov, Design, Optimization, Calibration, and a Case Study of a 3D-Printed, Low-cost Fingertip Sensor for Robotic Manipulation, IEEE International Conference on Robotics and Automation, 2014 (ICRA'14)

Charles C. Kemp, Cressel Anderson, Hai Nguyen, Alexander J. Trevor, and Zhe Xu. A Point-and-Click Interface for the Real World: Laser Designation of Objects for Mobile Manipulation. In 3rd ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2008


Hai Nguyen, Cressel Anderson, Alexander J. Trevor, Advait Jain, Zhe Xu, and Charles C. Kemp. El-E: An Assistive Robot that Fetches objects from Flat Surfaces. HRI Workshop on Robotic Helpers: User Interaction, Interfaces and Companions in Assistive and Therapy Robots, 2008

Zhe Xu, Yoky Matsuoka, and Ashish D. Deshpande, Crocheted Artificial Tendons and Ligaments for the Anatomically Correct Testbed (ACT) Hand, submitted to IEEE International conference on Robotics and Biomimetics, 2015 (Robio’15)


Ashish D. Deshpande*, Zhe Xu*, Michael J. Vande Weghe*, Jonathan Ko, Lillian Y. Chang, Benjamin H. Brown, David D. Wilkinson, Sean M. Bidic, Yoky Matsuoka, Mechanisms of the Anatomically Correct Testbed (ACT) Hand, IEEE/ASME Transactions on Mechatronics, 2013 * These authors are all first authors.


Zhe Xu, Brian Dellon and Yoky Matsuoka, Design of Artificial Skin with Integrated Tactile Sensors for Anthropomorphic Robotic Hands, In Proceedings of the IEEE International conference on Robotics and Biomimetics, 2011 (Robio’11)

Zhe Xu and He Xu, First place, National Collegiate Mechanical Innovation Contest, August 2004​​