Mark Hermes — accepted AI-conference papers

2021

Locomotion and Control of a Friction-Driven Tripedal Robot

Mark Hermes, Taylor McLaughlin, Mitul Luhar, Quan Nguyen

ICRA 2021poster

This paper presents a novel omnidirectional gait design and feedback control of a radially symmetric tripedal friction-driven robot. The robot features 3 servo motors mounted on a 3-D printed chassis 7 cm from the center of mass and separated 120 degrees. These motors drive limbs, which impart frict…

Cited by 3 Source ↗Scholar ↗

2019

Morphing Structure for Changing Hydrodynamic Characteristics of a Soft Underwater Walking Robot

Michael Ishida, Dylan Drotman, Benjamin Shih, Mark Hermes, Mitul Luhar, Michael Thomas Tolley

RA-L 2019

Existing platforms for underwater exploration and inspection are often limited to traversing open water and must expend large amounts of energy to maintain a position in flow for long periods of time. Many benthic animals overcome these limitations using legged locomotion and have different hydrodyn

Cited by 47 Source ↗Scholar ↗