Gavin Kenneally

University of Pennsylvania, Mechanics' Institute, ITMO University

Papers

Total Citations

388

H-Index

About

Gavin Kenneally is a leading roboticist whose work has fundamentally advanced the design and capabilities of legged robots. His primary research focuses on direct-drive actuation, dynamic locomotion, and the development of agile, robust quadrupeds. Kenneally is best known as the co-creator of the Minitaur robot, a revolutionary direct-drive quadruped that can run, jump, and even climb. His seminal paper, "Design Principles for a Family of Direct-Drive Legged Robots" (2016), has garnered over 316 citations, establishing a new paradigm for robot design that prioritizes mechanical transparency, robustness, and high-bandwidth control. This work demonstrated that by eliminating gearboxes, robots could achieve unprecedented agility and energy efficiency. Beyond Minitaur, Kenneally has made significant contributions to quantifying legged agility and energy management, as seen in his papers on leg design and quasi-static/dynamic mismatch for tasks like door opening and stair climbing. His research provides a foundational framework for building the next generation of highly capable, physically interactive robots, making him a pivotal figure in modern robotics.