List of Publications

Journal Publications, Conference Papers, Technical Reports

Ph.D. Thesis

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

M.Sc. Thesis

          Design and Control of a Planar Spider Robot, Technion, Israel, October 1999.

Journal Publications

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

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

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

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, pp. 966-968. (PDF file)

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

Conference Papers

1. A. Shapiro, A. Greenfield,  H. Choset, " Frictional Compliance Model Development and Experiments for Snake Robot Climbing", IEEE International Conference on Robotics & Automation, April 2007, Rome Italy.(PDF file)

2. S. Sarid, A. Shapiro, Y. Gabriely, " MRBUG: A Competitive Multi Robot Path Finding Algorithm", IEEE International Conference on Robotics & Automation, April 2007, Rome Italy.(PDF file)

3. 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.

4. 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.

5.  S. Sarid, A. Shapiro, Y. Gabriely, "MRSAM: A Quadratically Competitive Multi-Robot Online Navigation Algorithm", IEEE International Conference on Robotics & Automation, May 2006, Orlando, FL, USA. (PDF file)

6. A. Shapiro and S. Shoval, “Design and Locomotion of Semi-Passive Mobile Platform”, The 5th International Conference on Field and Service Robotics, July 29-31 2005, Port Douglas Australia. (PDF file)

7. A. Shapiro, I. Mhpoda 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.

8. 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.

9. 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, April 2004, New Orleans, LA, USA. (PDF file)

10. A. Shapiro, E. Rimon, S. Shoval, "Motion Planning for a Planar 3-Legged Robot in Tunnel Environments", The 13^th Industrial Engineering and Management Conference, March 2004.

11. A. Shapiro, S. Shoval, M. Zacksenhouse, Y. Halevi, and students, "Design and Development of a Mobile Robot for the RoboCup  Games", The 29^th Israel Conference on Mechanical Engineering, May 2003.

12.  A. Shapiro, E. Rimon, S. Shoval, "Computation and Experiments of Passive Force Closure in Compliant-Rigid Grasps", The 29^th Israel Conf. on Mech. Eng., May 2003.

13.  A. Shapiro and E. Rimon, “PCG: A Foothold Selection Algorithm for Spider Robot Locomotion in 2D Tunnels”, IEEE International Conference on Robotics & Automation, September 2003, Taipei, Taiwan. (PDF file)

14. 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, November 2001 Maui, Hawaii, USA.(PDF file)

15. A. Shapiro, E. Rimon, S. Shoval, “Immobilization Based Control of Spider Robots in Tunnel Environments”, The IEEE International Conference on Robotics & Automation, May 2001, Seoul Korea     (PDF file).

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

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

18. E. Rimon, S. Shoval, A. Shapiro, “Design of a Spider Robot Based on Second-Order Immobilization Theory”, The 9^th International Symposium on Robotics Research, pp15-22, J. Hollerbach and D. Koditschek Editors, Springer Verlag, 1999.

19. 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, May 1999, Detroit USA .  

Technical Reports

1.  S. Sarid, A. Shapiro, Y. Gabriely, "MRSAM: A Quadratically Competitive Multi-Robot Online Navigation Algorithm", Dept. of Mechanical Engineering, Ben Gurion University of the Negev, April 2006. (PDF file)

2. A. Shapiro, E. Rimon, S. Shoval, “On the passive force closure set of planar grasps and fixtures”, Dept. of Mechanical Engineering, Ben Gurion University of the Negev, December 2008 . (Technical Report PDF file)

3.  A. Shapiro, S. Shoval, “Design and Motion Planning of a Semi-Passive Mobile Platform for Locomotion on Slippery Surfaces”, in preparation.  

    

Special Presentations

1.      A. Shapiro, "Design and Control of an Autonomous Spider-Like Robot for Motion in 2D Tunnel Environments", November 15^th 2005, invited CFR seminar at the Robotics Institute at Carnegie Mellon University, Pittsburgh, PA , USA.

2.      A. Shapiro, "Motion Planning, Control, and special Structures of Mobile Robots", October 29^th 2004, An invited lecture to high school students in the opening ceremony of the special university program to promote accessibility of students to higher education.

3.      A. Shapiro, "Planar Spider Robots – A Step Towards Walking Machines", March 10^th 2004, Ph.D. Thesis selected by the dean of graduate students at the Technion for presentation in a special series of lectures by outstanding graduate students.

4.      A. Shapiro, "Design and Control of an Autonomous Spider-Like Robot for Motion in 2D Tunnel Environments", December 18^th 2003, A presentation to foreign military attaches at their visit in the Technion.

5.      A. Shapiro, "Design and Control of an Autonomous Spider-Like Robot for Motion in 2D Tunnel Environments", June 11^th 2003, invited seminar at the Dept. of Mechanical Engineering, Ben Gurion University of the Negev.