Peng Qi

Dr Peng Qi, PhD, BEng, MSc




Peng Qi is currently a Ph.D student under the supervision of Prof. Kaspar Althoefer at the Centre for Robotics Research of King’s College London. He received a BEng degree from Beijing Jiaotong University, China in 2010 and a MSc degree in Electrical Engineering from KTH Royal Institute of Technology, Sweden in 2012.

Peng is a student member of the IEEE, ASME, IET and serves as Chair of IEEE King’s College London Student Branch.

Description of Research

The research is centred on design, modeling and control of continuum manipulators as surgical assistants. Peng introduced a novel continuum robot manipulator that integrates multiple layers of planar springs. The manipulator demonstrates a large linear predictable bending motion and effectively decouples the bending motion with contraction. Based on the compliance analysis, the effects of flexure design variations on planar spring layer compliance properties are investigated, which implies the possibility to control the backbone shape. Further, with the concept of simultaneous rotation and the use of Rodrigues’ formula, Peng established the kinematic modeling of multi-tendon-driven continuum manipulators. Kinematic control is investigated with several different approaches.

Research Interest

  • Continuum Manipulator
  • Medical Robotics
  • Robotic Control
  • Kinematic Modeling

Teaching Assistant

  • 4CCS1CS1 Computer Systems (14~15 SEM1 1)
  • 4CCS1PRP Programming Practice (14~15 SEM1 1)



P. Qi, C. Qiu, H. Liu, J. S. Dai, L. Seneviratne, and K. Althoefer, “A Novel Continuum Manipulator Design using Serially Connected Double-Layer Planar Springs,” IEEE/ASME Transactions on Mechatronics, 2015 (DOI: 10.1109/TMECH.2015.2498738, IF = 3.6).

P. Qi, C. Liu, A. Ataka, H. K. Lam, K. Althoefer, “Kinematic Control of Continuum Manipulators Using a Fuzzy-Model-Based Approach,” IEEE Transactions on Industrial Electronics, 2016 (Accepted, IF = 6.5).

C. Smith, Y. Karayiannidis, L. Nalpantidis, X. Gratal, P. Qi, D. V. Dimarogonas and D. Kragic, “Dual arm manipulation—A survey,” Robotics and Autonomous Systems, 60(10), 1340–1353 (2012).


P. Qi, C. Liu, L. Zhang, S. Wang, H. K. Lam and K. Althoefer, “Fuzzy logic control of a continuum manipulator for surgical applications,” Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO), Bali, Indonesia (2014) pp. 413–418.

P. Qi, C. Qiu, H. Liu, J. S. Dai, L. Seneviratne and K. Althoefer, “A novel continuum-style robot with multilayer compliant modules,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, USA (2014) pp. 3175–3180.

P. Qi, H. Liu, L. Seneviratne and K. Althoefer, “Towards kinematic modeling of a multi-DOF tendon driven robotic catheter,” Proceedings of the 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Chicago, USA (2014) pp. 3009–3012.

C. Qiu, P. Qi, H. Liu, K. Althoefer and J. S. Dai, “Six dimensional compliance analysis of ortho-planar springs for a continuum manipulator,” Proceedings of the ASME 2014 International Design Engineering Technical Conference & Computers and Information in Engineering Conference (IDETC), Buffalo, USA (2014) Paper No. DETC2014-34607.

P. Qi and L. Wang, “On simulation and analysis of mobile robot SLAM using Rao-Blackwellized particle filters,” Proceedings of the IEEE/SICE International Symposium on System Integration (SII), Kyoto, Japan (2011) pp. 1239–1244.

P. Qi and L. Wang, “Experiments of GMM based speaker identification,” Proceedings of the 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Incheon, Korea (2011) pp. 26–31.