M. Kashki

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About

M. Kashki is a robotics researcher specializing in the design, modeling, and control of novel inertially actuated locomotion systems. Their work focuses on leveraging internal spinning masses to generate movement, eliminating the need for external legs or propellers. Kashki’s major contributions include the development of a vertically jumping robot that uses inertial actuation for controlled hopping, as detailed in their most-cited work, "Adaptive Control of Inertially Actuated Bouncing Robot" (20 citations). They also pioneered "pivot walking," demonstrating how a robot with two spinning masses can achieve planar motion by exploiting surface friction (11 citations). More recently, Kashki has extended this concept to wheeled platforms, designing an inertially actuated two-wheeled inverted pendulum that combines traditional wheeled mobility with inertial effects for enhanced agility. Their research systematically explores a family of inertially actuated systems, from simple bouncing to complex multi-modal locomotion. With a growing body of work that bridges theoretical modeling and robust control, Kashki is establishing a foundation for a new class of minimalist, highly maneuverable robots suitable for exploration and inspection in confined or unstructured environments.