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Amir Shapiro, PhD. Director of the Robotics Laoratory. [1]


Short Bio

Amir Shapiro received the B.Sc., M.Sc., and Ph.D. degrees in Mechanical Engineering from the Technion, Israel Institute of Technology, Haifa, in 1997, 2000, and 2004 respectively. Currently he is a Senior Lecturer and director of the robotics laboratory at the Department of Mechanical Engineering of Ben-Gurion University of the Negev, Beer-Sheva, Israel. On 2005-2006 he was a post doctoral fellow at the Robotics Institute of Carnegie Mellon University, Pittsburgh, PA. His interests include locomotion of multi-limbed mechanisms in unstructured complex environments, motion planning algorithms for multi-limbed robots, robot grasping-design, control, and stability analysis, climbing robots, snake like robots, multi-robot on-line motion planning, and agriculture robotics.

Complete CV of Amir Shapiro can be found here: CV

Contact information

Office: building #55 Mechanical Engineering, office #341 (3rd floor)

Department of Mechanical Engineering

Ben-Gurion University of the Negev

Media

Following are links and citations of the general media coverage of the lab activity and developments.

1) "Securing the Future", Maariv newspaper (in Hebrew), Hamagazin page 10, June 3, 2012. [2]

2) "Second View", Israel Channel 1, Wednsday Dec 21, 2011, at 9:45pm. [3]

3) "Remote Control War", Thursday August 26, 2011 at 9pm on CBC-TV, [4]

4) "Can You Teach A New Robot Old Tricks?", Lori Samlin Miller, Jewish Exponent Feature, February 17, 2011, [5]

5) "Biologically Inspired Robots", Israel Chanel 2 News, Nov 10, 2010, 8:30pm, [6]

6) “FIRST Robotic competition and climbing robots”, The Voice of the Campus Radio station, Israel, March 14, 2010.

7) “Boffins Create Robo Climbers”, The Sun, January 22, 2010. [7]

8) “4 Ways To Climb a Wall, Robot Edition (Video)”, IEEE Spectrum Blog, Jan 2010, [8]

9) “Robotics' Wild Kingdom”, IEEE Spectrum, Jan 2010. [9]

10) “Spidey’s tricks inspired rescue robot” FlipSide Magazine, Dec 2009 No. 43, page 6.

11) “ The Science Fiction is Here”, Rosh Gadol, Issue 99-100, pages 26-27, Nov-Dec 2009.

12) “ It’s Play Time”, Winter 2009/10, BGU Now, Ben Gurion University of the Negev

13) “BGU’s Robots a Promising Future” Spring 2009, IMPACT, American Association Ben Gurion University.

14) “"Spider-Man" Robot Shoots "Webs", October 5, 2009, National Geographic, [10]

15) “New Israeli Robots Move Like Animals”, July 23, 2009, Adam Balkin, New York 1 – NY1, [11]

16) “Fun with homeland security robots”, March 25, 2009, Adam Wills, LA Jewish Journal, [12]

17) “Save Falling Elderly” July 7, 2009, Guy Grimland, TheMarker newspaper.

18) “A Word (and video) With the Inventor of the Battlefield Snakebot and the Wall-Scaling Snailbot, Israeli roboticist Amir Shapiro looks to the animal kingdom to design robots that can go where humans can't.”, June 11, 2009 John Pavlus, Popular Science, [13]

19) “IDF developing battlefield robot snake”, Dov Lieber, Jerusalem Post, Jun 9,2009,[14]

20) 2008 August 19, “The Wall Climbing Robot” CalCalist news paper.

21) 2008 Jun. 16, “Gesture Computer Interface Device Developed For Surgeons”, Science Daily.

22) 2008 May, “Work like Robots”, ABG, Ben Gurion University’s Magazine.

23) 2008 March 1, “Technology show starts at NIT-Tiruchi”, The Hindu – India’s National Newspaper, city edition Tiruchirapalli, India. [15]

P.O.Box 653 Beer-Sheva, Israel. 84105

Tel.: Int.-972-8-647-7165

Lab: Int.-972-8-647-7029

Fax: Int.-972-8-647-2813

Mobile: Int.-972-50-2029614

Email: ashapiro@bgu.ac.il

Facebook: Amir Shapiro

PhD Thesis

Design and Control of an Autonomous Spider-Like Robot for Motion in 2D Tunnels Environments, Technion, Israel, September 2003. (PDF) Advisor: Professor Elon Rimon

Refereed articles and refereed letters in scientific journals

1) E. Rimon, S. Shoval and A. Shapiro, “Design of a Quadruped Robot for Motion with Quasistatic Force Constraints”, Kluwer Academic Publishers, Journal of Autonomous Robots, Volume 10 (3) May 2001, pages 279-296. (PDF)

2) A. Shapiro, E. Rimon, S. Shoval, “Immobilization Based Control of Spider Robots in Tunnels Environment”, SAGE Publications, The International Journal of Robotics Research, Volume 20 (3) March 2001, pages 209-227. (PDF)

3) A. Shapiro, "The Future is Here – Making Walking Machines: Planar Spider Robot", Machines & Industry Magazine published by Medium - Professional Magazines Network, Volume 92, May 2004, pages. 39-41,88. (Editor refereed, in Hebrew). (PDF)

4) A. Shapiro, "Stability of second-Order Asymmetric Linear Systems With Application to Robot Grasping", ASME Journal of Applied Mechanics, Volume 72 (6),November 2005, pages. 966-968. (PDF)

5) A. Shapiro, E. Rimon “PCG: A Foothold Selection Algorithm for Spider Robot Locomotion in 2D Tunnels”, SAGE Publications, International Journal of Robotics Research, Volume 24 (10) , November 2005 pages. 823-844. (PDF)

6) Amir Shapiro, Shraga Shoval, "Design and Locomotion of a Semi-passive Mobile Platform", Springer Tracts in Advanced Robotics, Volume 25, Jul 2006, Pages 319 – 330. (PDF)

7) Shahar Sarid, Amir Shapiro, “Classifying the Multi Robot Path Finding Problem into a Quadratic Competitive Complexity Class”, Springer-Verlag Dordrecht publishers, Annals of Mathematics and Artificial Intelligence, Volume 52(2-4):169–203, April 2008. (PDF)

8) Shapiro Amir, Korkidi Eran, Demri Amnon, Riemer Raziel, Edan Yael, Ben-Shahar Ohad, “Toward Elevated Agrobotics: An Autonomous Field Robot for Spraying and Pollinating Date Palm Trees”, Wiley Blackwell publishers, Journal of Field Robotics, Volume 26 (6/7) : 572-590, June/July 2009. (PDF)

9) Shahar Sarid, Amir Shapiro, “H-MRSTM: A Competitive Search Algorithm for Heterogeneous Group of Robots”, International Journal of Factory Automation, Robotics and Soft Computing, Issue 3: 51-58, July 2009. (PDF)

10) Uri Kartoun, Amir Shapiro, Helman Stern, Yael Edan, “Physical Modeling of a Bag Knot in a Robot Learning System”, IEEE Transactions on Automation Science and Engineering, Volume 7 (1): 172-177, January 2010. (PDF)

11) A. Shapiro, E. Rimon, S. Shoval, “On the Passive Force Closure Set of Planar Grasps and Fixtures”, SAGE Publications, International Journal of Robotics Research, Volume 29 (11): 1435-1454, September 2010.(PDF)

12) Amir Shapiro, Itshak Melzer, “Balance Perturbation System to Improve Balance Compensatory Responses During Walking in Elderly Persons”, Journal of NeuroEngineering and Rehabilitation, Volume 7 (1): 32, July 2010.(PDF)

13) Ron Berenstein, Ohad Ben Shahar, Amir Shapiro, Yael Edan, “Grape clusters and foliage detection algorithms for autonomous selective vineyard sprayer”, Springer-Verlag publications, Intelligent Service Robotics journal, Special Issue on Agricultural Robotics, Volume 3 (4): 233-243, October 2010. (PDF)

14) Raziel Riemer, Amir Shapiro, “Biomechanical Energy Harvesting from Human Motion: Theory and Applications”, IEEE Journal of NeuroEngineering and Rehabilitation, 2011, 8:22. (PDF)

15) Avishai Sintov, Tomer Avramovich, Amir Shapiro, "Design and Motion Planning of an Autonomous Climbing Robot with Claws", the Journal of Robotics and Autonomous systems, Vol. 59 (11), 1008-1019, November 2011.

16) Shraga Shoval, Amir Shapiro, "Dual Tracked Mobile Robot for Motion in Challenging Terrains", Journal of Field Robotics 28(5): pages 769-791, September/October 2011. (PDF)

Other refereed publications

1) Avishai Sintov, Srinivas Raghothama, Roland Menassa and Amir Shapiro, "A Common 3-finger grasp Search Algorithm for a Set of Planar Objects", The eighth annual IEEE International Conference on Automation Science and Engineering (CASE 2012), August 20-24, 2012, Seoul, Korea.

2) Yam Geva, Amir Shapiro, “A Combined Potential Function and Graph Search Approach for Free Gait Generation of Quadruped Robots”, IEEE International Conference on Robotics & Automation (ICRA), May 2012, Minnesota, USA.

3) Shahar Sarid, Amir Shapiro, Elon Rimon, Yael Edan, “Classifying The Heterogeneous Multi Robot Online Search Problem Into Quadratic Time Competitive Complexity Class”, IEEE International Conference on Robotics & Automation (ICRA), May 2011, Shanghai, China. (acceptance rate 49%)

4) Alon Capua, Amir Shapiro, Shraga Shoval, “SpiderBot: A Cable Suspended Mobile Robot”, a Video presentation at the IEEE International Conference on Robotics & Automation (ICRA), May 2011, Shanghai, China. (acceptance rate 55.6%)

5) Shahar Sarid, Amir Shapiro, “A Time Competitive Heterogeneous Multi Robot Path Finding Algorithm”, IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS 2010), October 18-22, 2010, Taipei, Taiwan.(acceptance rate 49.6%)

6) A. Capua, A. Shapiro, S. Shoval, "Motion Planning Algorithm for a Mobile Robot Suspended by Seven Cables", IEEE International Conferences on Cybernetics & Intelligent Systems and Robotics, Automation & Mechatronics (CIS-RAM 2010),pages 504-509, Singapore 28-30 June 2010.

7) A. Capua, A. Shapiro, S, Shoval, “Motion Analysis of an Underconstrained Cable Suspended Mobile Robot”, IEEE conference on Robotics and Biomimetics, pages: 788-793, December 2009, Guilin China.

8) S. Shoval, A. Shapiro, "Slippery Model for a Semi-Passive Mobile Platform Subjected to External Wrench", IEEE International Conferences on Cybernetics & Intelligent Systems and Robotics, Automation & Mechatronics (CIS-RAM 2008), pages: 749-754, Chengdu, China 3-6 June 2008.

9) A. Degani, A. Shapiro, H. Choset, M.T. Mason, “A Dynamic Single Actuator Vertical Climbing Robot”, IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 2901-2906, November 2007 San Diego, CA, USA. (acceptance rate 49%)

10) A. Shapiro, A. Greenfield, H. Choset, "Frictional Compliance Model Development and Experiments for Snake Robot Climbing", IEEE International Conference on Robotics & Automation, pages: 574-579, April 2007, Rome Italy. (acceptance rate 43.7%)

11) S. Sarid, A. Shapiro, Y. Gabriely, "MRBUG: A Competitive Multi Robot Path Finding Algorithm", IEEE International Conference on Robotics & Automation, pages: 877-882, April 2007, Rome Italy. (acceptance rate 43.7%)

12) S. Sarid, A. Shapiro, Y. Gabriely, "MRSAM: A Quadratically Competitive Multi-Robot Online Navigation Algorithm", IEEE International Conference on Robotics & Automation, pages: 2699-2704, May 2006, Orlando, FL, USA. (acceptance rate 38.7%)

13) A. Shapiro and S. Shoval, “Design and Locomotion of Semi-Passive Mobile Platform”, The 5th International Conference on Field and Service Robotics, pages: 319-330, July 29-31 2005, Port Douglas Australia.

14) A. Shapiro, E. Rimon, J. W. Burdick, “On the Mechanics of Natural Compliance in Frictional Contacts and its Effect on Grasp Stiffness and Stability”, IEEE International Conference on Robotics & Automation, pages: 1264-1269, April 2004, New Orleans, LA, USA. (acceptance rate 58.8%)

15) A. Shapiro and E. Rimon, “PCG: A Foothold Selection Algorithm for Spider Robot Locomotion in 2D Tunnels”, IEEE International Conference on Robotics & Automation, pages: 2966-2972, September 2003, Taipei, Taiwan. (acceptance rate 60.5%)

16) A. Shapiro, E. Rimon, J. W. Burdick, “Passive Force Closure and its Computation in Compliant-Rigid Grasps”, IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 1769-1775, November 2001 Maui, Hawaii, USA.

17) A. Shapiro, E. Rimon, S. Shoval, “Immobilization Based Control of Spider Robots in Tunnel Environments”, The IEEE International Conference on Robotics & Automation, pages: 3636-3642, May 2001, Seoul Korea. (acceptance rate 64.5%)

18) S. Shoval, E. Rimon, A. Shapiro, “Design of a Spider-Like Robot for Motion with Quasistatic Force Constraints”, The IEEE International Conference on Robotics & Automation, pages: 1377-1383, May 1999, Detroit USA.

Peer reviewed conference papers in conference proceedings

1) Avi Manor, Amir Shapiro, "Design and Control of a Fully Actuated Quadrotor Unmanned Air Vehicle" International conference on Unmannd Systems AUVSI 2012, page 81, March 20-22, Tel-Aviv, Israel

2) Alon Capua, Yaacov Nissim, Ziv Brand, Amir Shapiro, "H_inf Robust Control via Singular Value Decomposition as a Design Tool for Continuous Dynamic Systems, TSME International Conference on Mechanical Engineering, October 19-21 2011, Krabi, Thailand.

3) (Alon Ohev-Zion), Amir Shapiro, “Grasping of Deformable Objects”, 12th conference Towards Atonomous Robotics Systems (TAROS), August 2011, Shefilled, UK.(PDF)

4) (Alon Ohev-Zion), Amir Shapiro, “Optimal Grasping of Deformable Objects”, Advanced Industrial Control (AIC) conference , May 2011, Beer Sheva, Israel. (PDF)

5) Hanoch Efraim, Amir Shapiro, “Attitude Estimation of VTOL MAV”, Advanced Industrial Control (AIC) conference , May 2011, Beer Sheva, Israel.

6) Alon Capua, Ziv Brand, Amir Shapiro, Guy Rodnay, “Singular Value Decomposition, a Design Tool for Continuous Dynamic Systems”, Advanced Industrial Control (AIC) conference , May 2011, Beer Sheva, Israel.

7) Raziel Riemer, Amir Shapiro, “ Choosing optimal gear and generator for a knee biomechanical energy harvester”, 3rd Israeli Conference on Robotics, Herzlia, Israel , 10-11 November, 2010

8) Alon Capua, Amir Shapiro, Shraga Shoval,“ SpiderBot - a Walking Cable Suspended Robot that Emulates Spider-Man”, 3rd Israeli Conference on Robotics, Herzlia, Israel , 10-11 November, 2010.

9) (Alon Ohev-Zion), Amir Shapiro, “Derivation and control of a spatial Nonlinear Ballbot System”, 3rd Israeli Conference on Robotics, Herzlia, Israel , 10-11 November, 2010.(PDF)

10) Shahar Sarid, Amir Shapiro, Yael Edan , “Algorithm for finding a path to a target with heterogeneous group of robots”, 3rd Israeli Conference on Robotics, Herzlia, Israel , 10-11 November, 2010.

11) S. Sarid, A. Shapiro, Y. Edan “H-MRSTM: Hetrogenous Multi Robot Time Competitive Motion Planning Algorithm, Performance Analysis and Simulations”, AUVSI-IEEE joint conference, Beer Sheva, Israel, October 6, 2010

12) H. Efraim, A. Shapiro, “On the Development of Autonomous Glider”, AUVSI-IEEE joint conference, Beer Sheva, Israel, October 6, 2010

13) E. Zisser, A. Shapiro, R. Riemer, H. Guterman, “On the Development of an Autonomous Pneumatically Driven Quadruped Robot”, AUVSI-IEEE joint conference, Beer Sheva, Israel, October 6, 2010

14) A. Capua, A. Shapiro, S. Shoval, “An Algorithm for Gait Planning of an Underconstrained Cable Suspended Mobile Robot”, AUVSI-IEEE joint conference, Beer Sheva, Israel, October 6, 2010.

15) Shahar Sarid, Amir Shapiro, Yael Edan, “Algorithm and Simulations for Finding a Target With Robots With Different Velocities”, The 31st Israeli Conference on Mechanical Engineering, Tel-Aviv, Israel, 2-3 June 2010.

16) Hanoch Efraim, Amir Shapiro, , “Autonomous Thermal Soaring”, The 31st Israeli Conference on Mechanical Engineering, Tel-Aviv, Israel, 2-3 June 2010.

17) (Alon Ohev-Zion), Amir Shapiro, “Nonlinear Modeling and Control of BallBot System”, The 31st Israeli Conference on Mechanical Engineering, Tel-Aviv, Israel, 2-3 June 2010.

18) Alon Capua, Ziv Brand, Amir Shapiro, Guy Rodnay, “A Generic Tool Based on Singular Value Decomposition for Heat Source Design”, The 31st Israeli Conference on Mechanical Engineering, Tel-Aviv, Israel, 2-3 June 2010.

19) Yam Geva, Amir Shapiro, Ohad Ben-Shahar, Yael Edan, “Visual Tracking of Date Palm Trees for Targeted Spraying”, The 31st Israeli Conference on Mechanical Engineering, Tel-Aviv, Israel, 2-3 June 2010.

20) A. Capua, A. Shapiro, S. Shoval, “Motion Analysis and Automatic Gait Algorithm for an Underconstrained Cable Suspended Mobile Robot”, Advanced Industrial Control (AIC) conference , March 2010, Beer Sheva, Israel.

21) (A. Ohev-Zion), A. Shapiro, “Stabilization of an Underactuated Robot on a ball”, Advanced Industrial Control (AIC) conference , March 2010, Beer Sheva, Israel.

22) A. Shapiro, “On the Development of Wall Climbing Robots”, Israeli Conference of Robotics (ICR), Nov 2008, Tel Aviv, Israel

23) E.Korkidi, A. Shapiro, O.Ben-Shahar, “Visual Servoing of A Pan Tilt Spraying Head For Accurate Spraying Of Date Palm Trees” Israeli Conference of Robotics (ICR), Nov 2008, Tel Aviv, Israel

24) R. Berenstein, O. Ben Shachar, A. Shapiro, Y. Edan, A. Bechar, “Image processing algorithms for selective vineyard robotic sprayer”, Israeli Conference of Robotics (ICR), Nov 2008, Tel Aviv, Israel

25) (A. Ohev-Zion), B.Z. Sandler, A. Shapiro., "The 3-D Inverted Pendulum with Oscillating Pivot" Israeli Conference of Robotics (ICR), Nov 2008, Tel Aviv, Israel (PDF)

26) Y. Levinson, R. Segev, A. Shapiro, “Notes on the Kinematics of an Octopus’s Arm”, Proceedings of the 9th Biennial ASME Conference on Engineering Systems Design and Analysis ESDA2008, July 7-9 2008 Haifa, Israel.

27) A. Wolf, A. Shapiro, A.Mor, “MBARS2: A new design for a 3 degrees-of-freedom parallel structure for joint arthroplasty”, Proceedings of the 9th Biennial ASME Conference on Engineering Systems Design and Analysis ESDA2008, July 7-9 2008 Haifa,Israel.

28) A. Shapiro, E. Korkidi, A. Rotenberg, G. Furst, H. Namdar, B. Sapir, M. Mishkin, O. Ben-Shahar, Y. Edan, “A Robotic Prototype for Spraying and Pollinating Date Palm Trees”, Proceedings of the 9th Biennial ASME Conference on Engineering Systems Design and Analysis ESDA2008, July 7-9 2008 Haifa,Israel.

29) S. Sarid, A. Shapiro, and Y. Gabriely, "Online Motion Planning Algorithm for a Group of Robots Obtaining a Common Goal" Israeli Conference of Robotics (ICR), June 2006, Tel Aviv, Israel.

30) S. Shoval, A. Shapiro, A. Novak, S. Papo, "3D Spider Robot for Motion in Congested Environments" Israeli Conference of Robotics (ICR), June 2006, Tel Aviv, Israel

31) A. Shapiro, I. Mahpoda and H. Zuk, “A Snail Inspired Wall Climbing Robot for Counter Terrorism Duty”, The 30th Israeli Conference on Mechanical Engineering, May 29-30 2005, Tel-Aviv Israel.

32) S. Shoval and A. Shapiro, “A Semi-Passive Mobile Platform for Motion on Slippery Surfaces”, The 30th Israeli Conference on Mechanical Engineering, May 29-30 2005, Tel-Aviv Israel.

33) A. Shapiro, E. Rimon, S. Shoval, “Design of a Spider Robot for Motion with Quasistatic Force Constraints”, The 28th Israel Conf. on Mech. Eng., July 2000.

34) A. Shapiro, E. Rimon, S. Shoval, “Immobilization Based Control of Spider Robots in Tunnels Environment”, The 21st IEEE Convention of Electrical and Electronic Engineers in Israel, May 2000.

Theses

(Amir Shapiro) - Design and Control of an Autonomous Spider-Like Robot for Motion in 2D Tunnels Environments, Technion, Israel, September 2003. (PDF) Advisor: Professor Elon Rimon

Shahar Sarid, Multiple Robots Motion Planning Obtaining a Common Goal, Department of Mechanical Engineering, Ben Gurion University of the Negev, M.Sc. Thesis, 2007. Advisor: Dr. Amir Shapiro

(Alon Ohev-Zion) - Stabilization of an Underactuated Robot on a Ball, Ben-Gurion University of the Negev, ISRAEL, December 2009, (PDF), Advisor:(Amir Shapiro)

Shahar Sarid, Heterogeneous Multi Robot Search Algorithms, Department of Mechanical Engineering, Ben Gurion University of the Negev, Ph.D. Thesis, 2011. Advisors: Dr. Amir Shapiro and Prof. Yael Edan

Editorship of collective volumes

1) G. Kaminka, A. Shapiro, Annals of Mathematics and Artificial Intelligence Special Issue on Multi-Robot Coverage, Search, and Exploration, 52(2-4), April 2008

Chapters in collective volumes

1) E. Rimon, S. Shoval, A. Shapiro, “Design of a Spider Robot Based on Second-Order Immobilization Theory”, The 9th International Symposium on Robotics Research, pages 15-22, J. Hollerbach and D. Koditschek Editors, Springer Verlag, 1999.

2) S. Sarid, A. Shapiro, “H-MRSTM: Competitive Search Algorithm for Heterogeneous Group of Robots”, Emerging Technologies, Robotics and Control Systems, Third edition, pages. 209-216, Editor: Salvatore Pennacchio, International Society for Advanced Research 2009.

Unrefereed professional articles and publications

1) Alon Capua, Ziv Brand, Amir Shapiro, “A Generic Tool Based on Singular Value Decomposition for Heat Source Design”, Technical Report N/2010/995/101 Nuclear Research Center Negev, Engineering Research and Development Center, May 2010

2) Gal Kaminka, Amir Shapiro, “Editorial: Annals of Mathematics and Artificial Intelligence Special Issue on Multi-Robot Coverage, Search, and Exploration”, Annals of Mathematics and Artificial Intelligent, 52(2-4), pages 107-108, April 2008.

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