Publications

Google Scholar

Legend: Lab students italicized, all lab members in Bold

Journal Papers

  • A Methodology of Orchard Architecture Design for an Optimal Harvesting Robot.
    Victor Bloch, Amir Degani, and Avital Bechar, Biosystems Engineering, accepted.
  • Sensor Data Fusion of a Redundant Dual-Platform Robot for Elevation Mapping.
    Avi Turgeman, Shraga Shoval, and Amir Degani,  Journal of Robotics and Mechatronics, 30(1), 2018.
  • A Single-Actuated Swimming Robot: Design, Modelling, and Experiments.
    Gilad Refael and Amir Degani,  Journal of Intelligent & Robotic Systems, (conditionally accepted), 2017.
  • Decision Making Algorithms for Safe Robotic Disassembling of Randomly Piled Objects.
    Sharon Temtsin and Amir Degani,  Special Issue on Advanced Manipulation, Advanced Robotics, doi:10.1080/01691864.2017.1352537, 2017. (link).
  • Enhanced movement of CNT-based actuators by a three layer structure with Controlled Resistivity.
    Ela Sachyani, Michael Layani, Gal Tibi , Tal Avidan, Amir Degani,  and Shlomo Magdassi, Sensors and Actuators B, 252: 1071 – 1077, doi: 10.1016/j.snb.2017.06.104, 2017 (link).
  • A flight-phase terrain following control strategy for stable and robust hopping of a one-legged robot under large terrain variations.
    Natan Shemer and Amir Degani, Bioinspiration & Biomimetics, doi: 10.1088/1748-3190/aa741f, 2017 (link).
  • Automatic Herding Reduces Labour and Increases Milking Frequency in Robotic Milking.
    Uri Drach, Ilan Halachmi, Tal Pnini, Ido Izhaki, and Amir Degani,  Biosystems Engineering, 155:134-141, doi: 10.1016/j.biosystemseng.2016.12.010, 2017 (link).
  • Development of an Environment Characterization Methodology for Optimal Design of an Agricultural Robot.
    Victor Bloch, Avital Bechar, and Amir Degani,  Industrial Robot, 44(1), doi: 10.1108/IR-03-2016-0113, 2017 (linkPDF).
  • Vehicle Steering Using an Overhead Guide.
    Gilad Gat, Samuel Gan-Mor, Amir Degani, Computers and Electronics in Agriculture, Computers and Electronics in Agriculture, 121:234 – 244, doi:10.1016/j.compag.2015.12.019, 2016 (link).
  • Dynamic Single Actuator Robot Climbing a Chute. Period Doubling Bifurcations: Analysis and Experiments.
    Amir Degani, , Meccanica, 51(5): 1227–1243, doi: DOI 10.1007/s11012-015-0286-x, 2016. (link)
  • Design and Open-Loop Control of the ParkourBot, a Dynamic Climbing Robot.
    Amir Degani, Andrew W. Long, Siyuan Feng, H. Ben Brown, Robert D. Gregg, Howie Choset, Matthew T. Mason, and Kevin M. Lynch, IEEE Transactions on Robotics, 30(3), 705 – 718, 2014 (IEEE PDF).

Refereed Book Chapters

Refereed Conference Proceedings

  • Swing Leg Retraction Using Virtual Apex Method for the ParkourBot Climbing Robot.
    Omer Nir, Adar Gaathon, and Amir Degani, to appear at the Proc. of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017.
  • Analytic Modeling and Experiments of Tri-Layer, Electro-thermal Actuators for Thin and Soft Robotics.
    Gal Tibi, Ella Sachyani, Michael Layani, Shlomo Magdassi, and Amir Degani, Proc. of the 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, May, 2017.
  • Adaptive Swing Leg Retraction Control for Robust Dynamic Locomotion under Large Terrain Variations.
    Adar Gaathon and Amir Degani, Proc. of the 19th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2016), London, UK, Sep., 2016.
  • Design of a Task-Based Modular Re-Configurable Agricultural Robot.
    Mark Levinand Amir Degani, Proc. of the 5th IFAC Conference on Sensing, Control and Automation for Agriculture (AgriControl 2016), Seattle, WA, Aug., 2016
  • Momentum-Driven Single-Actuated Swimming Robot (JTCF Novel Technology Paper Award).
    Gilad Refael and Amir Degani, Proc. of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015.
  • Task characterization and classification for robotic manipulator optimal design in precision agriculture.
    Victor Bloch (Chernishev), Avital Bechar, and Amir Degani, Proc. of the 10th European Conference on Precision Agriculture (ECPA), Bet Dagan, Israel, July 2015.
  • Analytical Control Parameters of the Swing Leg Retraction Method using an Instantaneous SLIP Model.
    Natan Shemer and Amir Degani, Proc. of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago,  2014.
  • Toward Autonomous Disassembling of Randomly Piled Objects with Minimal Perturbation.
    Oni Ornan and Amir Degani, Proc. of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Japan,  2013. (IEEE PDF)
  • Feedback Control Experiments with the ParkourBot.
    Andrew Long, Amir Degani, and Kevin M. Lynch, in International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), Baltimore, MD, 2012.
  • Over-tube Apparatus for Increasing the Capabilities of an Articulated Robotic Probe – Video Submission (Best Video Award Finalist).
    Amir Degani, Stephen Tully, Brett Zubiate and Howie Choset, Proc. of the 2012 IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN, 2012. Link to Video
  • The Basic Mechanics of Bipedal Walking Lead to Asymmetric Behavior.
    Robert D. Gregg, Amir Degani, Yasin Dhaher, and Kevin M. Lynch, Proc. of the 2011 IEEE International Conference on Rehabilitation Robotics (ICORR). IEEE LINK
  • The ParkourBot – A Dynamic BowLeg Climbing Robot.
    Amir Degani, Siyuan Feng, H. Benjamin Brown, Kevin M. Lynch, Howie Choset and Matthew T. Mason, Proc. of the 2011 IEEE International Conference on Robotics and Automation (ICRA 2011). IEEE LINK
  • DSAC – Dynamic, Single Actuated Climber. Local Stability and Bifurcations.
    Amir Degani, Howie Choset and Matthew T. Mason, Proc. of the 2010 IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, 2010 – PDF
  • Minimalistic, Dynamic, Tube Climbing Robot – Video Submission (Best Video Award) .
    Amir Degani, Siyuan Feng, Howie Choset and Matthew T. Mason, Proc. of the 2010 IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, 2010 – see video page
  • A Novel Highly Articulated Robotic Surgical System For Epicardial Ablation.
    Takeyoshi Ota, Amir Degani, David Schwartzman, Brett Zubiate, Jeremy McGarvey, Howie Choset and Marco A. Zenati, Proc. IEEE Eng Med Biol Soc. 2008; 1: 250–253.
  • A Dynamic Single Actuator Vertical Climbing Robot.
    Amir Degani, Amir Shapiro, Howie Choset and Matthew T. Mason, Proc. 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 29 – Nov 2, 2007, Sheraton Hotel, San Diego, CA, USA – PDF
  • Percutaneous Intrapericardial Interventions Using a Highly Articulated Robotic Probe (Best Conference Paper Award) 
    Amir Degani, Howie Choset, Alon Wolf, Takeyoshi Ota and Marco Zenati, Proc. 2006 IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Pisa, Italy, Feb. 2006 –PDF
  • Graphical Singularity Analysis of Planar Parallel Manipulators.
    Amir Degani and Alon Wolf, Proc. 2006 IEEE International Conference on Robotics & Automation, Orlando, USA, May 2006 –PDF
  • Highly Articulated Robotic Probe for Minimally Invasive Surgery.
    Amir Degani, Howie Choset, Alon Wolf and Marco Zenati, Proc. 2006 IEEE International Conference on Robotics & Automation, Orlando, USA, May 2006 – PDF
  • Knee Pathology Classification Using the Instantaneous Screws Parameters and Support Vector Machines Classifier.
    Alon Wolf and Amir Degani, the 5th World Congress of Biomechanics, Munich, 2006
  • Assessing Knee Pathologies by Classifying the Instantaneous Screws of the Knee Motion.
    Alon Wolf and Amir Degani, Proc. 2006 IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Pisa, Italy, Feb. 2006
  • Classifying Knee Pathologies using Instantaneous Screws of the Six Degrees-of-Freedom Knee Motion.
    Alon Wolf and Amir Degani, Proc. 2006 IEEE International Conference on Robotics & Automation, Orlando, USA, May 2006

Technical Reports and Thesis

  • Methods for Simultaneous Orchard and Harvesting Robot Design, Victor Bloch (Chernishev), PhD. Thesis, 2017. Thesis Page
  • Autonomous ground vehicle navigation in orchards, Ron Ben Shaul, MSc. Final Project, 2017.
  • Improving Stability and Reaching Absolute Destinations for the Conservative SLIP Model, Adar Gaathon, MSc. Thesis, 2016. Thesis Page
  • Design and Modeling of a Minimalistic Robotic Swimmer, Gilad Refael  (Cum Laude), MSc. Thesis, 2016. Thesis Page
  • A New Concept for Herding Dairy Cows to a Milking Robot, Uri Drach , MSc. Thesis, co-advised by Ilan Halachmi, 2016. Thesis Page
  • Autonomous Pile Disassembly for Urban Search and Rescue Missions, Sharon Temtsin, MSc. Thesis, 2016. Thesis Page
  • Stable and Robust Vehicle Steering Control Using an Overhead Guide in Greenhouse Tasks, Gilad Gat, MSc. Thesis, Co-advised by Samuel Gan-Mor, 2015. Thesis Page
  • Sensor Data Fusion of a Redundant Dual Platform Robot for Terrain Mapping, Avraham Turgeman, MSc. Thesis, Co-advised by Shraga Shoval, 2015. Thesis Page, PDF
  • Minimalistic Control Strategies for Damped and Undamped SLIP-Based Dynamic Running Robots, Natan Shemer, MSc. Thesis, 2015. Thesis Page , PDF
  • Minimalistic Dynamic Climbing, Amir Degani, PhD Thesis, CMU-RI-TR-10-38, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, November, 2010. Thesis Page