​Zhe Xu. Approaching Human Hand Dexterity through Highly Biomimetic Design. In Human Inspired Dexterity in Robotic Manipulation. Tetsuyou Watanabe, Kensuke Harada, and Mitsunori Tada (Eds.). Elsevier, Forthcoming 2017.


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

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

Past projects and videos

Zhe Xu, Yoky Matsuoka, and Ashish D. Deshpande. Crocheted Artificial Tendons and Ligaments for the Anatomically Correct Testbed (ACT) Hand, In Proceedings of the 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, and 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​​

Sarah Elliott, Zhe Xu, and Maya Cakmak. Learning Generalizable Surface Cleaning Actions from Demonstration. In Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication, 2017 (RO-MAN’17).


Zhe Xu and Maya Cakmak. Enhanced Robotic Cleaning with a Low-cost Tool Attachment. In Proceedings of the 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, Second place, Beijing Collegiate Mechanical Innovation Contest, June 2004​

Zhe Xu and Aaron M. Dollar. The CLaP System: Chain-based Lattice Printing for Efficient Robotically-Assembled Structures. Science Robotics, under review 2017.


Zhe Xu, Connor McCann, and Aaron M. Dollar. Reconfigurable Modular Chain: a Reversible Material for Folding 3D Lattice Structures. ASME Journal of Mechanisms and Robotics, 2017.


​Zhe Xu, Connor McCann, and Aaron M. Dollar. Design of a Reconfigurable Modular Chain for Folding 3D Lattice Structures. In Proceedings of the ASME IDETC Mechanisms and Robotics Conference, 2016.

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 Proceedings of the 3rd ACM/IEEE International Conference on Human-Robot Interaction, 2008 (HRI’08).


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, PhD

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. In Proceedings of the IEEE International Conference on Robotics and Automation, 2014 (ICRA'14).

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. In Proceedings of the IEEE International Conference on Robotics and Automation, 2011 (ICRA'10).

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, and Emanuel Todorov. Fast, Strong and Compliant Pneumatic Actuation for Dexterous Tendon-driven Hands. In Proceedings of the IEEE International Conference on Robotics and Automation, 2013 (ICRA'13).