• Awards and Honors
• Short CV
• Lectures
• Projects
• Publications
• Research Interests
• News

Publications

Technical Reports

• Houxiang Zhang, Tim Baier-Löwenstein, Weining Zheng, "Final Report", Project Report, 11/2007.



• Houxiang Zhang, Tim Baier-Löwenstein, Weining Zheng, "Second Intermediate Report", Project Report, 01/2007.



• Houxiang Zhang, Tim Baier-Löwenstein, "First Intermediate Report", Project Report, 06/2006.

2010 (Part...)

• Houxiang Zhang, Jianwei Zhang, Wei Wang: From the biological model to a small climbing caterpillar robot, Int. J. Advanced Mechatronic Systems, Vol. 2, No. 1/2, pp.90-98, 2010.
  
  
• Wei Wang, Kun Wang, Houxiang Zhang, Jianwei Zhang: Internal Force Compensating Method for Wall-Climbing Caterpillar Robot, Proceeding of 2010 IEEE International Conference on Robotics and Automation (IRCA2010), Anchorage, Alaska, USA, May 3-8, pp.2816-2820, 2010.
  
  
• Juan Gonzalez-Gomez, Javier Gonzalez-Quijano, Houxiang Zhang, Mohamed Abderrahim: Towards the sense of touch in snake modular robots for search and rescue operations , Proceeding of 2010 IEEE International Conference on Robotics and Automation, Workshop on Modular robots, Anchorage, Alaska, USA, May 3-8, 2010.
  
  
• Wei Wang, Wenpeng Yu, Houxiang Zhang, Jianwei Zhang: JL-2: An Improved Self-reconfigurable Mobile Multi-robot System, International Journal of Advanced Robotic Systems, International Journal of Advanced Robotic Systems, Vol. 7, No. 1, pp. 9-18, 2010.
  
  
• Houxiang Zhang, Wei Wang, Jianwei Zhang: A Bio-inspired Small-sized Wall-climbing Caterpillar Robot,Mechatronic Systems Applications, Book edited by: Annalisa Milella Donato Di Paola and Grazia Cicirelli, ISBN: 978-953-307-040-7, Publisher: INTECH, pp.1-16, March 2010.
  
  
• Houxiang Zhang, Gionata Salvietti, Wei Wang, Guoyuan Li, Junzhi Yu, Jianwei Zhang: Efficient Kinematic Solution to a Multi-robot with Serial and Parallel Mechanisms,Proceeding of 2010 IEEE International Conference on Intelligent Robots and Systems (IROS2010), Taipei, Taiwan, October 18-22, pp. , 2010.
  
  
• Wei Wang, Houxiang Zhang, Wenpeng Yu: Design and Realization of a Self-reconfigurable Multi-Mobile Robot System with Parallel Docking Manipulator,Journal of Mechanical Design, 2010.(In press...)
  
  
........

2009

• Houxiang Zhang, Wei Wang, Juan Gonzalez-Gomez, Jianwei Zhang: Design and Realization of a Novel Modular Climbing Caterpillar Using Low-frequency Vibrating Passive Suckers, Advanced Robotics, Vol.23, pp.889-906, 2009.
  
  
• Wei Wang, Kun Wang, Houxiang Zhang: Crawling gait realization of the mini-modular climbing caterpillar robot, Progress in Natural Science, Vol.19, No.12, pp.1821-1829, 2009.
  
  
• Houxiang Zhang, Zhizhu Xie, Juan Gonzalez-Gomez, Jianwei Zhang: Embedded Intelligent Capability of a Modular Robotic System, Proceeding of IEEE Robio2008, Bangkok, Thailand, Feb. 21-26, 2009, pp.2061-2066
  
  
• Houxiang Zhang, Wei Wang, Wenpeng Yu, Jianwei Zhang: High Stiffness Pneumatic Actuating Scheme and Improved Position Control Strategy Realization of a Pneumatic Climbing Robot, Proceeding of IEEE Robio2008, Bangkok, Thailand, Feb. 21-26, 2009, pp.1086-1811
  
  
• Yong Li, Houxiang Zhang, Shengyong Chen: A Configuration Based on Module GZ-I: Four Legged Robot, Proceeding of IEEE Robio2008, Bangkok, Thailand, Feb. 21-26, 2009, pp.921-926. (In press)
  
  
• Kun Wang, Wei Wang, Dazhai Li, Houxiang Zhang, Jianwei Zhang: Analysis of Two Vibrating Suction Methods, Proceeding of IEEE Robio2008, Bangkok, Thailand, Feb. 21-26, 2009, pp.1313-1318.
  
  
• Houxiang Zhang, Wei Wang, Jianwei Zhang: A Novel Passive Adhesion Principle and Application for an Inspired Climbing Caterpillar Robot, Proceeding of ICM 2009, Malaga, Spain, April 14-17, 2009.
  
  
• Houxiang Zhang, Juan Gonzalez-Gomez, Jianwei Zhang: A New Application of Modular Robots on Analysis of Caterpillar-like Locomotion, Proceeding of ICM 2009, Malaga, Spain, April 14-17, 2009.
  
  
• Houxiang Zhang, Manfred Grove, Bernd Schütz, Jianwei Zhang: A Flexible Educational Robotics System, International Journal of Software Engineering and Computing, Vol.1 No.1, pp.1-8, 2009.
  
  
• Chunyan Yao, Jianwei Zhang, Houxiang Zhang: Cell Identification and Boundary Segmentation by A Statistical Shape Model, International Journal of Software Engineering and Computing, Vol.1 No.1, pp.25-30, 2009.
  
  
• Wei Wang, Houxiang Zhang, Jianwei Zhang, Guanghua Zong: Valid joint workspace and self-aligning docking conditions of a reconfigurable mobile multi-robots system, Proceeding of 2009 ASME/IFToMM International conference on reconfigurable Mechanisms and Robots, London, UK, 22-24 June, pp. 609-616, 2009.
  
  
• Wei Wang, Houxiang Zhang, Kun Wang, Jianwei Zhang, Weihai Chen: Gait control of modular climbing caterpillar robot, Proceeding of 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Singapore, July 14-17, pp. 957-962, 2009.
  
  
Finalist for Best Conference Paper (Links)


• Wei Wang, Houxiang Zhang, Wenpeng Yu, Jianwei Zhang, Weihai Chen: Docking Manipulator for a Reconfigurable Mobile Robot System, Proceeding of 2009 IEEE International Conference on Intelligent Robots and Systems (IROS2009), St. Louis, MO, USA, October 11-15, pp. 1697-1702, 2009.
  
  
• Wei Wang, Houxiang Zhang, Jianwei Zhang: Crawling Locomotion of Modular Climbing Caterpillar Robot with Changing Kinematic Chain, Proceeding of 2009 IEEE International Conference on Intelligent Robots and Systems (IROS2009), St. Louis, MO, USA, October 11-15, pp. 5021-5026, 2009.
  
  
• Gionata Salvietti, Houxiang Zhang, Juan Gonzalez-Gomez, Domenico Prattichizzo, Jianwei Zhang: Task Priority Grasping and Locomotion Control of Modular Robot, Proceeding of 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO2009), Guilin, Guangxi, China, 19-23 Dec. pp. 1069 - 1074, 2009.
  
  

2008

• Houxiang Zhang, Wei Wang, Guanghua Zong, Jianwei Zhang: A Novel Modular Mobile Robot Prototype for Urban Search and Rescue, One Chapter in Book of "Service Robotics Applications", Ed. Y. Takahashi, ISBN 978-953-7619-00-8, pp.213-234, I-Tech Education and Publishing. 2008.
  
  
• Wei Wang, Houxiang Zhang, Guanghua Zong, Zhicheng Deng: A Reconfigurable Mobile Robots System Based on Parallel Mechanism, One Chapter in Book of "Parallel Manipulators", ISBN 978-3-902613-20-2, pp. 347-362, 2008.
  
  
• Houxiang Zhang, Wei Wang, Guanghua Zong, Jianwei Zhang: Real-time Control Realization of a New Pneumatic Climbing Robot, Invited paper, CD Proceeding of 2008 IEEE Conference on Industrial Electronics and Applications (ICIEA 2008), Singapore, 3-5 June, 2008.
  
  
• Wei Wang, Houxiang Zhang, Guanghua Zong, Jianwei Zhang: Force Cooperation in a Reconfigurable Field Multi-Robot System, Journal of Field Robotics, Vol. 25, No.11/12, pp.923-938, 2008.
  
  
• Wei Wang, Yingying Wang, Jinghao Qi,Houxiang Zhang, Jianwei Zhang: The CPG Control Algorithm for a Climbing Worm Robot, Invited paper, CD Proceeding of 2008 IEEE Conference on Industrial Electronics and Applications (ICIEA 2008), Singapore, 3-5 June, 2008.
  
  
• Houxiang Zhang, Juan Gonzalez-Gomez, Zhizhu Xie, Sheng Cheng, Jianwei Zhang: Development of a Low-cost Flexible Modular Robot GZ-I, Proceeding of 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronlics, Xi'an, China, 4 - 7 June, pp.223-228, 2008.
  
  
• Wei Wang, Houxiang Zhang, Yingying Wang, Kun Wang, Jianwei Zhang: Analysis of the Kinematics of Module Climbing Caterpillar Robots, Proceeding of 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronlics, Xi'an, China, 4 - 7 June, pp.84-89, 2008.
  
  
Best Conference Paper (Links)


• Yanzi Miao, Houxiang Zhang, Xiaopin Ma, Jianwei Zhang: Improvement of the Combination Rules of the D-S Evidence Theory Based on Dealing with the Evidence Conflict, Proceeding of 2008 IEEE International Conference on Information and Automation (ICIA2008), June20-23, Zhangjiajie, Hunan, China, pp.331-336, 2008.
  
  
Finalist for Best Student Conference Paper (Links)


• Yanzi Miao, Xiaopin Ma, Houxiang Zhang, Jianwei Zhang, Zhongxiang Zhao: An Improved Extension of D-S Evidence Theory to Fuzzy Sets, The 3th International Multi-Conference on Computing in the Global Information Technology (ICCGI 2008), July27-Aug.1, Athens, Greece, pp.148-153, 2008.
  
  
• Yanzi Miao, Jianwei Zhang, Houxiang Zhang, Xiaopin Ma, Zhongxiang Zhao: Coal and Gas Outburst Prediction Combing a Neural Network with the Dempster-Shafter Evidence, Proceeding of 5th International Symposium on Neural Networks (ISNN 2008, part II, LNCS 5264), Sept. 24-28, Beijing, China, Springer Lecture Notes in Computer Science: Advances in Neural Networks, pp.822-829, 2008.
  
  
• Xiaopin Ma, Yanzi Miao, Zhongxiang Zhao, Houxiang Zhang, Jianwei Zhang : A Novel Approach to Coal and Gas Outburst Prediction Based on Multi-sensor Information Fusion, Proceeding of 2008 IEEE International Conference on Automation and Logistics (ICAL 2008), Sept. 1-3, Qingdao, China, pp.1613-1618, 2008.
  
  
• Houxiang Zhang, Wei Wang, Jianwei Zhang: Biological Inspirations for the Design of Climbing Robotic Caterpillars, Proceeding of 2008 Sino-European Workshop on Intelligent Robots and System, Chongqing, Dec. 2008, China. (In press)
  
  
• Denis Klimentjew, Andre Stroh, Houxiang Zhang, Jianwei Zhang: 3D Real-Time Stereo Reconstruction for Small Humanoid Robots, The Proceeding of The 3rd CAS Symposium on Robotics and Manufacturing Technology, Oct. 11-13, Shenyang, China (In press).
  
  
• Wei Wang, Houxiang Zhang: Climbing Technique of Cleaning Robot for Spherical Surface, Journal of Beijing University of Aeronautics and Astronautics, Vol.34, No.1, Jan. 2008, pp.17-21. (In Chinese)
  
  

2007

• Houxiang Zhang, Editor of the Book, “Climbing & Walking Robots Towards New Applications”, ISBN 978-3-902613-16-5, 2007, I-Tech Education and Publishing.
  
  
• Houxiang Zhang, Jianwei Zhang, Wei Wang, Rong Liu, Guanghua Zong: A Series of Pneumatics Glass-wall Cleaning Robots for High-rise Buildings, Industrial Robot: An International Journal, Vol.34, No.2, pp.150-160, 2007.
  
  
• Houxiang Zhang, Rong Liu, Guanghua Zong, Jianwei Zhang: A Novel Autonomous Climbing Robot for Cleaning an Elliptic Half-shell, One Chapter in Book of " MOBILE ROBOTS-MOVING INTELLIGENCE", pp.603-624, 2007.
  
  
• Juan Gonzalez-Gomez, Houxiang Zhang, Eduardo Boemo: Locomotion Principles of 1D Topology Pitch and Pitch-Yaw-Connecting Modular Robots, One Chapter in Book of " Bioinspiration and Robotics: Walking and Climbing Robots ", 2007, pp.403-428.
  
  
• Houxiang Zhang, Jianwei Zhang, Rong Liu, Guanghua Zong: Mechanical Design and Dynamics of an Autonomous Climbing Robot for Elliptic Half-shell Cleaning, International Journal of Advanced Robotic Systems, Vol. No., 2007, pp437-446.
  
  
• Houxiang Zhang, Juan Gonzalez-Gomez, Shengyong Chen, Wei Wang, Rong Liu, Dazhai Li, Jianwei Zhang: A Novel Modular Climbing Caterpillar Using Low-frequency Vibrating Passive Suckers, Proceeding of 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronlics, ETH Zurich , Switzerland, 4 - 7 Sept., pp., 2007.
  
  
Finalist for Best Conference Paper (Links)


• Houxiang Zhang, Shengyong Chen, Wei Wang, Jianwei Zhang, Guanghua Zong: Runtime Reconfiguration of a Modular Mobile Robot with Serial and Parallel Mechanisms, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, San Diego, U.S.A, Oct.29-Nov.02, 2007,pp.2999-3004.
  
  
• Houxiang Zhang, Weining Zheng, Shengyong Chen, Jianwei Zhang, Wei Wang, Guanghua Zong: Flexible Educational Robotic System for a Practical Course, Proceeding of 2007 IEEE International Conference on Integration Technology, Shenzhen, Guangdong, China, 20 - 24 March, pp.691-696, 2007.
  
  
• Houxiang Zhang, Wei Wang, Rong Liu, Jianwei Zhang, Guanghua Zong: Locomotion Realization of an Autonomous Climbing Robot for Elliptic Half-shell Cleaning, Invited paper, Proceeding of 2007 IEEE Conference on Industrial Electronics and Applications (ICIEA 2007), Harbin, Heilongjiang, China, 23 - 25 May., pp.1220-1225, 2007.
  
  
• Wei Wang, Jinghao Qi, Houxiang Zhang, Guanghua Zong: A Rapid Hunting Algorithm for Multi Mobile Robots System, Proceeding of 2007 IEEE Conference on Industrial Electronics and Applications (ICIEA 2007), Harbin, Heilongjiang, China, 23 - 25 May., pp.1203-1207, 2007.
  
  
• Wei Wang, Houxiang Zhang, Wenpeng Yu, Guanghua Zong, Jianwei Zhang: FA Compensating Variable Bang-Bang Control Algorithm for Pneumatic Driving Glass-Wall Cleaning Robot, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, San Diego, U.S.A, Oct.29-Nov.02, 2007, pp. 1242-1247.
  
  
• Shengyong Chen, Jianwei Zhang, Houxiang Zhang, Wanliang Wang, Youfu Li: Active Illumination for Robot Vision, Proceeding of ICRA2007, Rome, Italy, April, 2007, pp. 411-416.
  
  
• Weining Zheng, Houxiang Zhang, Shengyong Chen, Jianwei Zhang, Guanghua Zong: Flexible Software Hierarchy Realization of an Education Robot, Proceeding of 7th WSEAS International Conference, Vouliagmeni, Athens, GREECE, August 2007 (As a corresponding author).
  
  
• Chunyan Yao, Jianwei Zhang, Houxiang Zhang: Blood Cell Identification and Segmentation by Means of Statistical Models, Proceeding of 7th WSEAS International Conference, Vouliagmeni, Athens, GREECE, August 2007.
  
  
• Jingke Yu, Rong Liu, Houxiang Zhang, Jianwei Zhang, : Design and Development of an Assisting Robotic Arm in Minimally Invasive Breast Surgery, Proceeding of 2007 IEEE International Conference on Robotics and Biomimetics, Sanya, Hainan, China, 15-18 Dec., 2007, pp. 349-354.
  
  
• Wei Wang, Houxiang Zhang, Hualei Fu, Jianwei Zhang, Guanghua Zong: Drivable Workspace Analysis of The Reconfiguration Mechanism in a Mobile Robots System, Proceeding of 2007 IEEE International Conference on Robotics and Biomimetics, Sanya, Hainan, China, 15-18 Dec., 2007, pp. 496-501.
  
  

2006

• Houxiang Zhang, Jianwei Zhang, Wei Wang, Rong Liu, Guanghua Zong: Sky Cleaner 3-A Real Pneumatic Climbing Robot for Glass-Wall Cleaning, IEEE Robotic & Automation Magazine,Vol.13, No.1 pp32-41,March 2006.
  
  
• Houxiang Zhang, Jianwei Zhang, Rong Liu, Guanghua Zong: Effective Pneumatic Scheme and Control Strategy of a Climbing Robot for Class Wall Cleaning on High-rise Buildings, International Journal of Advanced Robotic Systems, Vol.3 No.2, pp.183-190, 2006.
  
  
• Houxiang Zhang, Wei Wang, Zhicheng Deng, Guanghua Zong: A Novel Reconfigurable Robot for Urban Search and Rescue, International Journal of Advanced Robotic Systems, Vol.3 No.4, pp.359-366, 2006.
  
  
• Houxiang Zhang, Daniel Westhoff, Jianwei Zhang, Guanghua Zong: Service Robotic Systems for Glass Curtain Walls Cleaning on the High-rise Buildings, Proceeding of ISR2006& ROBOTIK2006.
  
  
• Houxiang Zhang, Wei Wang, Jianwei Zhang, Guanghua Zong: Control Hierarchy Realization and Cleaning Trajectory Evaluation of a Wall Cleaning Robot,Proceeding of IEEE International conference on robotics and Automation RAM&CIS 2006, Bangkok,Thailand,7 - 9 June, pp. 285-289, 2006
  
  
• Houxiang Zhang, Zhicheng Deng, Wei Wang, Jianwei Zhang, Guanghua Zong: Locomotion Capabilities of a Novel Reconfigurable Robot with 3 DOF Active Joints for Rugged Terrain, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, China, Oct.10-15, pp.5588 - 5593, 2006
  
  
• Houxiang Zhang, Jianwei Zhang, Guanghua Zong: Cleaning Trajectory Evaluation of a Wall Cleaning Robot Based on Synthesis Standards, Proceeding of the Multiconference on Computational Engineering in Systems Applications, Beijing, China,October 4-6, pp. 1695 - 1700, 2006.
  
  
• Houxiang Zhang, Jianwei Zhang, Rong Liu, Guanghua Zong: Visual Orientation and Human-inspired Cleaning Trajectory in a Service Robotic Facade-cleaning Gondola, The 9th International Conference on Climbing and Walking Robots and their Supporting Technologies for Mobile Machines, CLAWAR 2006, Brussels, Belgium, September 12-14, pp.287-292, 2006.
  
  
• Juan Gonzalez-Gomez, Houxiang Zhang, Eduardo Boemo, Jianwei Zhang: Locomotion Capabilities of a Modular Robot with Eight Pitch-Yaw-Connecting Modules , The 9th International Conference on Climbing and Walking Robots and their Supporting Technologies for Mobile Machines, CLAWAR 2006, Brussels, Belgium, September 12-14, pp.150-156, 2006.
  
  
• Houxiang Zhang, Wei Wang, Zhicheng Deng, Jianwei Zhang: A Reconfigurable Robot with Serial and Parallel Mechanisms, The 9th International Conference on Climbing and Walking Robots and their Supporting Technologies for Mobile Machines, CLAWAR 2006, Brussels, Belgium, September 12-14, pp.716-721, 2006.
  
  
• Houxiang Zhang, Jianwei Zhang, Guanghua Zong: Effective Nonlinear Control Algorithms for a Series of Pneumatic Climbing Robots, 2006 IEEE International Conference on Robotics and Biomimetics, Kunming, China, 17-20 Dec., 2006, pp.994-999.
  
  
Finalist for Best Conference Paper (Links)


• Houxiang Zhang, Tim Baier, Jianwei Zhang, Wei Wang, Rong Liu, Dazhai Li, Guanghua Zong: Building and Understanding Robotics-a Practical Course for Different Levels Education, 2006 IEEE International Conference on Robotics and Biomimetics, Kunming, China, 17-20 Dec., 2006, pp.61-66.
  
  
• Wei Wang, Houxiang Zhang, Guanghua Zong, Jianwei Zhang: Design and Realization of a Novel Reconfigurable Robot with Serial and Parallel Mechanisms, 2006 IEEE International Conference on Robotics and Biomimetics, Kunming, China, 17-20 Dec., 2006.
  
  

2005

• Houxiang Zhang, Jianwei Zhang, Rong Liu, Guanghua Zong: Realization of a service robot for cleaning spherical surfaces, International Journal of Advanced Robotic Systems, Vol.2 No.1, pp53-58, 2005.
  
  
• Houxiang Zhang, Jianwei Zhang, Rong Liu, Guanghua Zong: Design of a Climbing Robot for Cleaning Spherical Surfaces, 2005 IEEE International Conference on Robotics and Biomimetics, Hong Kong, China, June 29-July 3, pp.375-380, 2005.
  
  
• Houxiang Zhang, Jianwei Zhang, Rong Liu, Guanghua Zong: Climbing Technique of the Cleaning Robot for a Spherical Surface, 2005 IEEE International Conference on Mechatronics and Automation, Ontario, Canada, July 29 to August 1, pp.2061-2066, 2005.
  
  

2004

• Houxiang Zhang, Jianwei Zhang, Rong Liu, Guanghua Zong: A Novel Approach to Pneumatic Position Servo Control of a Glass Wall Cleaning Robot, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2004, Sendai, Japan, Sept. 28-Oct.2, pp467-472, 2004.
  
  
• Houxiang Zhang, Jianwei Zhang, Guanghua Zong: Requirements of Glass Cleaning and Development of Climbing Robot Systems, Proceedings of the 2004 IEEE International Conference on Intelligent Mechatronics and Automation, Chengdu, China, August 26-31, pp.101-106,2004.
  
  
• Houxiang Zhang, Jianwei Zhang, Guanghua Zong: Realization of a Service Climbing Robot for Glass-wall Cleaning, Proceedings of the 2004 IEEE International Conference on Robotics and Biomimetics, Shenyang, China, August 22-25, 2004.
  
  
• Houxiang Zhang, Jianwei Zhang, Rong Liu, Wei Wang, Guanghua Zong: Pneumatic Climbing Robots for Glass Wall Cleaning , The 7th International Conference on Climbing and Walking Robots and their Supporting Technologies for Mobile Machines, CLAWAR 2004, Madrid, Spain, September 22-24, 2004.
  
  
• Houxiang Zhang, Jianwei Zhang, Wei Wang, Guanghua Zong: Design of a Pneumatic Glass Wall Cleaning Robot for High-Rise Buildings, Proceedings of the IEEE ASER 2004 2nd International Workshop on Advances in Service Robotics Stuttgart, Germany, May 21, pp.21-26, 2004.
  
  
• Xijiang Li, Rong Liu, Houxiang Zhang, Guanghua. Zong: Fuzzy Fault Tree Analysis on Safety of Robot for Wall Cleaning, Journal of Beijing University of Aeronautics and Astronautics, Vol.30 No.4, pp344-348, 2004(in Chinese).
  
  
• Houxiang Zhang, Rong Liu, Wei Wang, Guanghua Zong: Research on Pneumatic Position Servo System for Climbing Robot, Journal of Beijing University of Aeronautics and Astronautics, Vol.30 No.8, pp.705-708. 2004 (in Chinese).
  
  
• Houxiang Zhang, Boyan Tang, Rong Liu, Zhenxiang Xu, Xijiang Li, Guanghua Zong: Design on the Self-scramble Robot for Spherical Surface, Journal of Robot, Vol.26, No.1, pp1-6. 2004 (in Chinese).
  
  

--2003 (Part)

• Rong Liu, Guanghua. Zong, Houxiang Zhang, Xijiang Li: A Cleaning Robot for Construction Out-wall with Complicated Curve Surface, Proceedings of the Sixth International Conference on Climbing and Walking Robots and their Supporting Technologies for Mobile Machines, CLAWAR 2003, Catania, Italy, September, 2003, pp.825-834, 2003.
  
  
• Houxiang Zhang, Dazhai Li, Rong Liu, Guanghua. Zong: The Application of Robot Vision in an Automatic Window Cleaning Robot, Manufacturing Automation Magazine, Vol.25, No.1, 2003, pp37-40 (In Chinese).
  
  
• Houxiang Zhang, Xinming Wu, Guanghua Zong: The Control System of A Glass-wall Cleaning Robot, Control & Automation. Vol.16, No.1, 2000, pp30-32. (In Chinese).