Innchyn Her

Papers

Total Citations

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About

Innchyn Her is a pioneering researcher in the field of robotics, with a specialized focus on the locomotion and fault tolerance of multiped robots. His work is particularly vital for missions in harsh, inaccessible environments—such as planetary exploration, disaster response, and antiterrorism—where robot repair is impossible. Her’s major contribution lies in developing alternative gaits that allow multi-legged robots to retain maneuverability and stability even after suffering leg failures or amputations. His most-cited paper, "Alternative Gaits for Multiped Robots with Leg Failures to Retain Maneuverability" (2010), has garnered 24 citations, establishing a foundational approach for resilient robot design. He further advanced this concept in "Comparison of Alternative Gaits for Multiped Robots with Severed Legs" (2012, 14 citations), systematically evaluating different strategies for compromised robots. More recently, Her has explored image-based methods to determine optimal walking strategies for hexapods on discontinuous terrain (2015), integrating environmental perception with gait planning. His work is essential reading for students and researchers in robotics, offering practical solutions for creating smarter, more adaptable machines capable of operating in the most demanding conditions.