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Mark Plecnik

Mark Plecnik

Email: plecnikmark@nd.edu

Phone: 574-631-8960

Office: 372 Fitzpatrick Hall

Education

Ph.D., Mechanical Engineering, University of California, Irvine, 2015

M.S., Mechanical Engineering, University of California, Irvine, 2013

B.S., Mechanical Engineering, University of Dayton, 2010

Biography

Mark Plecnik joined the Department of Aerospace and Mechanical Engineering at the University of Notre Dame in 2019.  He previously worked as a postdoctoral scholar at the University of California, Berkeley in the Biomimetic Millisystems Lab.

Summary of Activities/Interests

Dr. Plecnik is interested in designing the morphology of robot limbs through computation. He believes that functionalities critical to improving dynamic performance could be encoded into the mechanics of a robot through careful design of its limbs’ dimensions. This might be referred to as embodied intelligence, or mechanical intelligence. His approach is based in design exploration rather than optimization, and his main mathematical toolset is numerical homotopy continuation. His work has focused mainly on investigating multi-closed chain mechanisms, which originate polynomial design equations of degree greater than one million.

Selected Publications

  • J. Lee, M. Plecnik, J. Yang, and R. S. Fearing, 2018. “Self-Engaging Spined Gripper with Dynamic Penetration and Release for Steep Jumps,” IEEE 2018 International Conference on Robotics and Automation, May 21-25, 2018, Brisbane, Australia.
  • M. Plecnik and R. S. Fearing, 2017. “A Study on Finding Finite Roots for Kinematic Synthesis,” Proceedings of the ASME 2017 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Paper No. IDETC2017-68341, August 6-9, 2017, Cleveland, Ohio, USA.
  • M. Plecnik and R. S. Fearing, 2017. “Finding Only Finite Roots to Large Kinematic Synthesis Systems,” Journal of Mechanisms and Robotics, 9(2): 021005.
  • M. Plecnik, D. W. Haldane, J. K. Yim, and R. S. Fearing, 2017. “Design Exploration and Kinematic Tuning of a Power Modulating Jumping Monopod,” Journal of Mechanisms and Robotics, 9(1): 011009.
  • D. W. Haldane, M. Plecnik, J. K. Yim, and R. S. Fearing, 2016. “Robotic Vertical Jumping Agility via Series-Elastic Power Modulation,” Science Robotics, 1(1): eaag2048.
  • B. Tsuge, M. Plecnik, and J. M. McCarthy, 2016. “Homotopy Directed Optimization to Design a Six-Bar Linkage for a Lower Limb With a Natural Ankle Trajectory,” Journal of Mechanisms and Robotics, 8(6): 061009.
  • M. Plecnik and J. Michael McCarthy, 2016. “Kinematic Synthesis of Stephenson III Six-bar Function Generators,” Mechanism and Machine Theory, 97:112-126.
  • M. Plecnik and J. Michael McCarthy, 2016. “Controlling the Movement of a TRR Spatial Chain with Coupled Six-bar Function Generators for Biomimetic Motion," Journal of Mechanisms and Robotics, 8(5): 051005.
  • M. Plecnik and J. Michael McCarthy, 2016. “Design of Stephenson Linkages that Guide a Point Along a Specified Trajectory,” Mechanism and Machine Theory, 96(1): 38-51.
  • M. Plecnik and J. Michael McCarthy, 2016. “Computational Design of Stephenson II Six-bar Function Generators for 11 Accuracy Points,” Journal of Mechanisms and Robotics, JMR-15-1055, 8(1): 011017.

Advisee(s)

Graduate Students: