Amir Shapiro 1

July. 2015

CURRICULUM VITAE

• Personal Details Name: Amir Shapiro Date and place of birth: October 24, 1971, Haifa, Israel Address and telephone number at work:

Department of Mechanical Engineering Ben­Gurion University of the Negev P.O.Box 653 Beer­Sheva, Israel. 84105 Tel.: Int.­972­(0)8­647­7165 Lab: Int.­972­(0)8­647­7029 Fax: Int.­972­(0)8­647­2813 Mobile: Int.­972­(0)50­2029614 Email: ashapiro@bgu.ac.il website: http://robotics.bgu.ac.il

Address and telephone number at home: 11 Bosmat St., Metar 85025 Tel: Int.­972­(0)77­9339383

• Education

B.Sc. ­ 1993­1997, Technion­Israel Institute of Technology, Faculty of Mechanical Engineering, Graduated Cum Laude

M.Sc. ­ 1997­2000, Technion­Israel Institute of Technology,

Faculty of Mechanical Engineering, Name of advisor: Prof. Elon Rimon Title of thesis: Design and Control of a Planar Spider Robot

Ph.D. ­ 2000­2004, Technion­Israel Institute of Technology,

Faculty of Mechanical Engineering, Name of advisor: Prof. Elon Rimon Title of thesis: Design and Control of an Autonomous Spider Like Robot for Motion in 2D Tunnels Environments

• Employment History

2014 ­ present Associate Professor, tenured, (effective date Nov. 1, 2014) Department of Mechanical Engineering, Ben­Gurion University of the Negev, Beer­Sheva, Israel.

2011 – 2014 Senior Lecturer, tenured, Department of Mechanical Engineering, Ben­Gurion University of the Negev, Beer­Sheva, Israel.

2005 – present Director, the Robotics Laboratory, Department of Mechanical Engineering, Ben­Gurion University of the Negev, Beer­Sheva, Israel.

2005 – 2011 Lecturer Department of Mechanical Engineering, Ben­Gurion University of the Negev, Beer­Sheva, Israel.

8­9 /2008 Visiting Researcher ­ Robotics grasps analysis

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Department of Mechanical Engineering, Caltech – California Institute of Technology, Pasadena, CA

7­8 /2007 Visiting Researcher – Robotics grasps analysis Department of Mechanical Engineering, Caltech – California Institute of Technology, Pasadena, CA

2005 ­ 2006 Post Doctoral Fellow – BioRobotics Robotics Institute, Carnegie Mellon University, Pittsburgh, PA.

2004 ­ 2005 Post Doctoral Fellow Department of Mechanical Engineering, Ben­Gurion University of the Negev, Beer­Sheva, Israel.

3­9/2004 Lecturer Department of Industrial Engineering and Management, Ariel University Center.

1997 ­ 2004 Teaching Assistant – Robotics, Mechatronics, and Projects Faculty of Mechanical Engineering, Technion­Israel Institute of Technology.

1996 ­ 1997 Research Assistant – Tribology and contact mechanics Faculty of Mechanical Engineering, Technion­Israel Institute of Technology.

• Professional Activities

(a) Positions in academic administration 2014 ­ Present Member, University safety committee, BGU 2013 ­ Present Mentor of Dr. Avishay Carmy, Dept. Mech. Eng., BGU 2012­ Present Member, Department computing committee,

Dept. Mech. Eng., BGU 2010 – Present Head, Department projects committee, Dept. Mech. Eng., BGU 2009­ Present Member, Department programs committee,

Dept. Mech. Eng., BGU 2009 Head, Department seminars committee,

Dept. of Mech. Eng., BGU 2008 – 2009 Member, Department laboratories committee,

Dept. Mech. Eng., BGU 2007 – 2010 Member, Department pedagogy committee,

Dept. Mech. Eng., BGU 2007 – 2009 Member, Department projects committee,

Dept. Mech. Eng., BGU 2007 – 2008 Member, Department seminars committee,

Dept. of Mech. Eng., BGU 2004­Present Head, Robotics Laboratory, Dept. of Mech. Eng., BGU

(b) Professional functions outside universities/institutions

2015­ Associate Editor of the IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2015), USA.

2015 ­ BGU team coach for the Engineering and Commerce Case Competition (ECCC), March 10­15 2015, Concordia university, Montreal Canada. http://www.engcomm.ca/

2015­ Program Committee and Academic Committee member of the Israel Conference of Mechanical Engineering (ICME), 2­3 March, 2015, Tel Aviv, Israel

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2015­ Associate Editor of the IEEE International Conference on Robotics and Automation (ICRA 2015), USA.

2014 ­ Committee member of the Robotics Business Review, the 2014 Game Changer Awards judges panel.

2013­ Program Committee member of the IEEE International Symposium on Safety, Security, and Rescue Robotics, Oct. 21­26, 2013, Linköping, Sweden.

2013­ Co­Organizer of the Innovation 2013 conference, June 2013 Beer­Sheva, Israel

2013­ Associate Editor of the IEEE International Conference on Robotics and Automation (ICRA 2013), Germany.

2012­ Member and Speaker on the Robotics section of the DLD conference, October 2012, Tel Aviv, Israel

2012­ Chairman of the "Kinematics & Dynamics" session of the Israeli conference on Mechanical Engineering (ICME 2012) Tel­Aviv, Israel, October 2012.

2012­ Chairman of the "Grasp Planning" session of the eighth IEEE International Conference on Automation Science and Engineering (CASE 2012) Seoul Korea, August 2012.

2012­ Chairman of the "Climbing Robots" session of the IEEE International Conference on Robotics and Automation St. Paul MN, May 2012.

2011­ Co­Organizer and Speaker of the Innovation 2011 conference, May 2011 Beer­Sheva, Israel

2011­ Chairman of the “Control Systems in Robotics and Automation” session of the Advanced Industrial Control (AIC) conference , May 2011, Beer Sheva, Israel.

2011­ Member and Speaker on the Robotics section of the KinnerNet conference, March 2011, Ohalo, Israel

2010­ Organizer of the First European CROPS Workshop on Sensing and Mechanical Design, Dec 19, 2010, Wageningen, Netherlands.

2010­ Chairman of the “Dynamics and Control” session of the 3rd Israeli Conference on Robotics, Herzlia, Israel , 10­11 November, 2010.

2010­ Chairman of the “Path Planning for Multiple Mobile Robot” session of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, 18­22 October 2010.

2010­ Chairman of the “UAV's" session of the first AUVSI­IEEE joint Conference on Robotics, Beer Sheva, Israel, 6 October 2010.

2010­ Chairman of the “Robotics and Autonomous Systems” session of the 31st Israeli Conference on Mechanical Engineering, Tel­Aviv, Israel, 2­3 June 2010.

2010­ Member and Speaker on the Robotics section of the KinnerNet conference, Ohalo, Israel

2010­ Organizer and Speaker on the Innovation 2010 conference, April 2010 Beer­Sheva, Israel

2010­ Judge at the FIRST robotics competition, Tel­Aviv, Israel 2010­ Chairman of the “Robotics” session of the Advanced Industrial Control

(AIC) conference , March 2010, Beer Sheva, Israel. 2010­ Member and Speaker on the Robotics Panel at the Festival delle

Scienze, January 2010, Rome Italy 2009­ Member and Speaker on the Robotics section of the KinnerNet

conference, Ohalo, Israel 2009­ Judge at the FIRST robotics competition, Tel­Aviv, Israel

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2009­ Member and Speaker on the Robotics Panel at the DLD (Digital, Life, Design) conference, Munich, Germany

2008­ Organizer of the SLO­IL project meeting, Bled, Slovenia 2008­ Chairman of the “Robot Design” session at the second Israeli

Robotics Conference, Herzelia, Israel 2008­ Chairman of the “Robot Design” session at the ESDA 2008, 9th

Biennial ASME Conference on Engineering Systems Design and Analysis, Haifa, Israel

2008­ Organizer of a Robotics Workshop, Ben Gurion University, Beer­Sheva, Israel

2008­ Judge at the FIRST robotics competition, Tel­Aviv, Israel 2007­ Organizer of the Dutch­Israeli Agricultural Science and Technology

workshop on new approach to future farming: small and light­weight agrobots

2007­ Chairman of the “Intelligent Transportation Systems” session at the 2007 IEEE International Conference on Robotics & Automation, Rome, Italy

2007­ Judge at the FIRST robotics competition, Tel­Aviv, Israel 2006­ Chairman of the “Navigation” session at the 2006 IEEE International

Conference on Robotics & Automation, Orlando, FL

(c) Significant professional consulting 2011 – 2012 Roboteam, Development of robots, sensor fusion, motion

planning, and control of robots. 2008 ­ 2009 Aero Ice Free­ Development of deicing system for UAV wings 2001­2002 Ter­Arme – Numerical solution for the curve of the Ben­Gurion

Airport – Modein tunnel 1999­2001 GeBA Gene Bio Application – Development of automated

visual guided gene extraction system

(d) Editor or member of editorial board of scientific or professional journal 2015 ­ 2016 Co­Editor of the Biosystems Engineering Special Issue on on

Advances in Robotic Agriculture for Crops. 2014 ­ present Editor ­ Frontiers Robotics and AI journal, multi­robot systems

section 2011 – present Editor – Springer, Journal of Intelligent and Robotic Systems. 2009­present Member of the Editorial board of the Electronic Colloquium on

Design Thinking Research 2008­ 2009 Co­Editor of the Annals of Mathematics and Artificial

Intelligence Special Issue on Multi­Robot Coverage, Search, and Exploration

2006­Present Member of the Editorial Consultant Board of the International Journal of Advanced Robotic Systems

(e) Ad­hoc reviewer for journals

1) Mechanism and Machine Theory 2) IEEE Transactions on Robotics 3) IEEE Transactions on Automation Science and Engineering 4) International Journal of Robotics Research 5) Autonomous Robots journal 6) Journal of Field Robotics 7) Annals of Mathematics and Artificial Intelligent

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8) Robotica (f) Membership in professional/scientific societies

2004­Present Member of the Institute of Electrical and Electronics Engineering (IEEE)

1999­Present Member of the Israeli Association for Automatic Control (IAAC)

1998­Present Member of the American Society of Mechanical Engineering (ASME)

• Educational activities

(a) Courses taught

Name of course, level ­ Institution(s) (Indicate if jointly taught) Theory of Machines, Undergraduate level ­ BGU Kinematics and Dynamics of Robots, Undergraduate level ­ BGU Mechatronics, Undergraduate level ­ BGU and Technion Senior projects, Undergraduate level ­ BGU Robot Motion Planning and Control, Graduate level ­ BGU Advanced Subjects in Robotics, Graduate level ­ BGU Engineering Design, Undergraduate level ­ Ariel University Robot Design and Programming, Undergraduate level ­ Ariel University

(b) Research students

M.Sc. Students

2007 ­ Shahar Sarid – Dept. Mech. Eng., BGU, Multi Robot Motion Planning. 2008 ­ Yaron Levinson – Dept. Mech. Eng., BGU, (Co supervised with Prof.

R. Segev), On the kinematics of Octopus arm. 2009 ­ Pavel Zilberman – Dept. Mech. Eng., BGU, Development of a Four

Legged Walking Robot. 2009 ­ Alon Ohev Zion – Dept. Mech. Eng., BGU, (Co­advised with: Prof.

B.Z. Sandler, and Prof. V. Portman), Balancing Spatial Inverted Pendulum.

2009 ­ Alon Capua – Dept. Mech. Eng., BGU, Motion analysis of an Under­Constrained Cable Suspended Robot.

2009 ­ Eran Korkidi – Dept. Mech. Eng., BGU, Image Based Visual Servoing of a Date Palm Trees Sprayer.

2011­ Hanoch Efraim ­ Dept. Mech. Eng., BGU, Quad­Rotor hovercraft, structure, state estimation, and control.

2012­ Avi Manor – Dept. Mech. Eng., BGU, Modeling and Motion planning for a vector thrusters based quad­rotor.

2012­ Shlomo Shemesh ­ Dept. Mech. Eng., BGU, Control and Motion Planning of a UAV Quadrotor.

2013 ­ Eddie Zisser ­ Dept. Mech. Eng., BGU, Position Control of a Pneumatic Actuation System.

2013­ Yam Geva ­ Dept. Mech. Eng., BGU, Motion planning for walking robots.

2014 ­ Guy Zeidner ­ Dept. Mech. Eng., BGU, Multisensory Data Fusion

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for Autonomous Vineyard Sprayer Robot Navigation.

2014­ Yelena Bleich ­ Dept. Mech. Eng., BGU, Optimal Design of Boundary Conditions of Elastic Objects to Achieve Desired Deformations.

2015­ Nir Levi ­ Dept. Mech. Eng., BGU, Quasi­static locomotion of a humanoid robot.

****­ Hagai Balshai ­ Dept. Mech. Eng., BGU, On the development of a BaMPer­Balance Measure and Perturbation System. ****­ Moran Gad ­ Dept. Mech. Eng., BGU, Energy harvesting from

human knee motion. ****­ Shahar Levy ­ Dept. Mech. Eng., BGU, Motion planning of a

hyper­redundant robot in topological map. ****­ Ben Lev Ari ­ Dept. Mech. Eng., BGU, Energy harvesting from

human knee motion. ****­ Yosi Benzino ­ Dept. Mech. Eng., BGU, walking robots. ****­ Yoav Golan ­ Dept. Mech. Eng., BGU, Advanced gripper

development. Ph.D. Students

2012­ Shahar Sarid – Dept. Mech. Eng., BGU, (Co supervised with Prof. Y. Edan), Motion Planning for

Heterogeneous group of Robots. 2014­ Alon Capua – Dept. Mech. Eng., BGU, Nonlinear H_inf Control

Methods. (Co supervised with Prof. N. Berman R.I.P).

****­ Alon Ohev Zion – Dept. Mech. Eng., BGU, Robotic Grasp of Deformable Objects.

****­ Hanoch Efraim – Dept. of Mech. Eng, BGU (Co supervised with Dr. Gera Weiss), Vision based state estimation and motion planning.

****­ Oded Medina ­ Dept. of Mech. Eng, BGU, motion planning and control and actuation of a compliant manifold.

****­ Avishai Sintov ­ Dept. Mech. Eng., BGU, Automatic Design of a Gripper for Grasping Objects of Various Shapes.

****­ Yam Geva ­ Dept. Mech. Eng., BGU, Dynamic Motion planning for walking robots.

****­ Alon Zajda – Dept. Meh. Eng., BGU, Investigation of balance control in humans

****­ Nir Levi ­ Dept. Mech. Eng., BGU, Robot motion planning.

• Awards, Citations, Honors, Fellowships (a) Honors, Citation Awards

1990 The Ministry of Education excellence scholarship 1993­1996 Included in the Technion Dean's List 1996 Included in the Technion President's List 1999 Special Gutwirth scholarship for excellence 2000 Technion excellence scholarship 2001 Technion excellence scholarship 2003 The Salim and Rachel Benin scholarship 2004 The Barazani prize for outstanding Ph.D. thesis

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2005 BGU Dean of engineering award for excellence in teaching 2006 Biography included in Who's Who in Science 2008 Development of Spider Robot included in Israel 60’s book 2011­2014 The Volunteering Award in Education from Metar's Municipality

(b) Fellowships

1997 – 2004 Technion graduate student’s fellowship 2004 The Israeli Council for Higher Education (VATAT)

Post­Doctoral fellowship

• Scientific Publications

H­Index: 10 ­Google, 4 ­ ISI (a) Authored books

­

(b) Editorship of collective volumes 1) G. Kaminka, A. Shapiro, Annals of Mathematics and Artificial Intelligence

Special Issue on Multi­Robot Coverage, Search, and Exploration, 52(2­4), April 2008

(c) Refereed chapters collective volumes, Conference proceedings, Festschrifts, etc.

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

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

3) (*) Yam Geva and Amir Shapiro, "Automatic Tree Tracking System for Date Palm Trees Sprayer", Handbook of Robotics, Springer Verlag 2013.

4) (*) A. Capua, N. Berman, A. Shapiro, and D. Choukroun. ”Nonlinear Output­Feedback H∞ Control for Spacecraft Attitude Control”. Advances in Aerospace Guidance, Navigation and Control, Springer, 2:139–161, 2013.

Peer reviewed conference papers in conference proceedings 1) 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.

2) 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.

3) S. Shoval and A. Shapiro, “A Semi­Passive Mobile Platform for Motion on Slippery Surfaces”, The 30th Israeli Conference on Mechanical Engineering, May 29­30 2005, Tel­Aviv Israel.

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4) 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 29­30 2005, Tel­Aviv Israel.

5) 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

6) 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.

7) A. Shapiro, E. Korkidi, A. Rotenberg, G. Furst, H. Namdar, B. Sapir, M. Mishkin, O. Ben­Shahar, 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 7­9 2008 Haifa,Israel.

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

9) 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 7­9 2008 Haifa, Israel.

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

11) 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

12) E.Korkidi, A. Shapiro, O.Ben­Shahar, “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

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

14)Yam Geva, Amir Shapiro, Ohad Ben­Shahar, Yael Edan, “Visual Tracking of Date Palm Trees for Targeted Spraying”, The 31st Israeli Conference on Mechanical Engineering, Tel­Aviv, Israel, 2­3 June 2010.

15)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, Tel­Aviv, Israel, 2­3 June 2010.

16)Alon Ohev­Zion, Amir Shapiro, “Nonlinear Modeling and Control of BallBot System”, The 31st Israeli Conference on Mechanical Engineering, Tel­Aviv, Israel, 2­3 June 2010.

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

18) 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, Tel­Aviv, Israel, 2­3 June 2010.

19) 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 , 10­11 November, 2010.

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20)Alon Ohev­Zion, Amir Shapiro, “Derivation and control of a spatial Nonlinear Ballbot System”, 3rd Israeli Conference on Robotics, Herzlia, Israel , 10­11 November, 2010.

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

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

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

24)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 19­21 2011, Krabi, Thailand.

25) Hagai Balshai, Oren Erez, Yam Geva, Itzik Meltzer, Amir Shapiro, Development of a device for improving the recovering ability from perturbations during paced walking of the Elderly, The 32nd Israeli Conference on Mechanical Engineering (ICME 2012), October 17­18, Tel­Aviv, Israel.

26) Boris Rozbaum, Alon Capua, Ziv Brand, Amir Shapiro, Control and Optimization of Heat Sources, The 32nd Israeli Conference on Mechanical Engineering (ICME 2012), October 17­18, Tel­Aviv, Israel. Winner of Best Student Poster Award.

27) E. Zisser, A. Shapiro, R. Riemer, Pneumatic Actuation – New Approach in Analytical Analysis and Modeling, The 32nd Israeli Conference on Mechanical Engineering (ICME 2012), October 17­18, Tel­Aviv, Israel.

28) H. Efraim, A. Shapiro, Special Quadrotor Structure with Inherent Negative Velocity Feedback, The 32nd Israeli Conference on Mechanical Engineering (ICME 2012), October 17­18, Tel­Aviv, Israel.

29) Yam Geva, Amir Shapiro, Combined Potential Function and Graph Search Approach for Free Gait Generation of Quadruped Robots, The 32nd Israeli Conference on Mechanical Engineering (ICME 2012), October 17­18, Tel­Aviv, Israel.

30) O. Medina, B. Ben Moshe, A. Shapiro, and N. Shvalb, An Actuated Flexible Manifold, The 32nd Israeli Conference on Mechanical Engineering (ICME 2012), October 17­18, Tel­Aviv, Israel.

31) Avishai Sintov, and Amir Shapiro, On the Computation of a Common 3­finger Grasp for a Set of 3D Objects, The 32nd Israeli Conference on Mechanical Engineering (ICME 2012), October 17­18, Tel­Aviv, Israel.

32) A.Ohev­Zion, A.Miller, A.Sintov, A.Shapiro, Experimental Validation of Compliant Contact Model, The 32nd Israeli Conference on Mechanical Engineering (ICME 2012), October 17­18, Tel­Aviv, Israel.

33)Amir Shapiro, Yam Geva, Hagay Balshay, Ilan Kurz, Yoav Gimmon, Itshak Melzer, "Balance perturbation system to improve balance compensatory responses during walking in old persons", Physical Medicine and Rehabilitation, August 19­21, 2013, Las Vegas, NV,USA

34)Yam Geva, Amir Shapiro, "Quasi­Static Locomotion of Four Legged Robot", AUVSI Conference on Unmanned Land Vehicles, April 18 2013, Technion, Israel.

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35) Capua Alon, Berman Nadav, Amir Shapiro, Daniel Choukroun, "Nonlinear Output­Feedback H­Infinity Control for Spacecraft Attitude Control", 2nd CEAS Specialist Conference on Guidance, Navigation & Control, April 10­12, 2013, Delft University of Technology, Delft, The Netherlands. Finalist for best paper award.

36) Capua Alon, Amir Shapiro, Daniel Choukroun, " Spacecraft Attitude Control using Nonlinear H­infinity Output­Feedback", AIAA Guidance, Navigation, and Control Conference, August 19­22, 2013, Boston, MA, USA.

37) Moran Gad, Raziel Riemer, Amir Shapiro, "Harvesting Energy from Knee Joint Movement", The 4th Israeli Conference on Robotics, Tel­Aviv, Israel , 19­20 November, 2013.

38)Avishai Sintov, Amir Shapiro, “Robotic Common Grasping using an n­Clamp End­Effector for Sheet Metal Parts”, The 4th Israeli Conference on Robotics, Tel­Aviv, Israel , 19­20 November, 2013.

39) Eddie Zisser, Amir Shapiro, Raziel Riemer, “Position Control of a Pneumatic Actuator”, The 4th Israeli Conference on Robotics, Tel­Aviv, Israel , 19­20 November, 2013.

40) A. Capua, A. Shapiro, and D. Choukroun, ”Robust Nonlinear H∞ Output­Feedback for Spacecraft Attitude Control”.AIAA SciTech Conference, January 2014, Maryland, USA

41)Nir Levi, Gregory Kovelman, Amit Geynis, Avishai Sintov, Amir Shapiro,"The DARPA Virtual Robotics Challenge Experience, From ROBIL's team dexterity group perspective" IEEE International Symposium on Safety, Security, and Rescue Robotics, Oct. 21­26, 2013, Linköping, Sweden

42)A. Sintov, R. Menassa and A. Shapiro. "On the Computation of a Common n­finger Robotic Grasp for a Set of Objects". International Conference on Automotive and Mechanical Engineering (ICAME), Nov. 2013, Paris, France.

43)Avishai Sintov, and Amir Shapiro, “Search Algorithm for a Common Design of a Robotic End­Effector for a Set of 3D objects”, International Conference on Innovation in Engineering and Technology (ICIET), Dec 25­26, 2013 Bangkok, Thailand.

44)Alon Ohev­Zion, and Amir Shapiro, “Stability of Compliant Planar Robotics Grasp with Application to Fruits Grasping”, International Conference of Agricultural Engineering, AgEng, 6­10 July 2014.

45)Avishai Sintov, and Amir Shapiro, “A computational algorithm for dynamic regrasping using non­dexterous robotic end­effectors ”, JCCI 2014 : 6th International Joint Conference on Computational Intelligence, Oct 22­24, 2014 Rome, Italy.

46) (*) Nir Levi, A.Shapiro, “Planning Algorithm of Quasi­Static Locomotion for Humanoid Robot walking on rough terrain”, The 33rd Israeli Conference on Mechanical Engineering (ICME 2015), March 2­3, Tel­Aviv, Israel.

47) (*) Guy Zaidner, A.Shapiro, “Novel sensor fusion approach for autnomous robot localization”, The 33rd Israeli Conference on Mechanical Engineering (ICME 2015), March 2­3, 2015, Tel­Aviv, Israel.

48) (*) Hanoch Efraim, Shay Arogeti, Amir Shapiro, Gera Weiss, “Output Feedback control of Micro Aerial Vehicle In Indoor Environment”, the 23rd Mediterranean Conference on Control and Automation, Torremolinos, Spain (MED 2015), June 16th­19th, 2015, Torremolinos, Spain.

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(d) Refereed articles and refereed letters in scientific journals, running numbers

1) E. RimonPI, S. ShovalC and A. ShapiroS, “Design of a Quadruped Robot

for Motion with Quasistatic Force Constraints”, Kluwer Academic Publishers, Journal of Autonomous Robots, Volume 10 (3) May 2001, pages 279­296. (16 citations­ Google, 5 citations­ ISI ; IF 1.908; 7/21; Q2)

2) A. ShapiroS, E. RimonPI, S. ShovalC, “Immobilization Based Control of Spider Robots in Tunnels Environment”, SAGE Publications, The International Journal of Robotics Research, Volume 20 (3) March 2001, pages 209­227. (4 citations­ Google, 1 citations­ ISI ; IF 3.587; 1/21; Q1)

3) A. ShapiroPI, "The Future is Here – Making Walking Machines: Planar Spider Robot", Machines & Industry Magazine published by Medium ­ Professional Magazines Network, Volume 92, May 2004, pages. 39­41,88. (Editor refereed, in Hebrew). (? citations­ ; IF N/A; N/A; Q­N/A)

4) A. ShapiroPI,"Stability of second­Order Asymmetric Linear Systems With Application to Robot Grasping", ASME Journal of Applied Mechanics, Volume 72 (6),November 2005, pages. 966­968. (5 citations­ Google ; IF 1.669; 46/135; Q2)

5) A. ShapiroPI, E. RimonC “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. 823­844. (12 citations­ Google, 6 citations­ ISI ; IF 3.587; 1/21; Q1)

6) Amir ShapiroPI, Shraga ShovalPI, "Design and Locomotion of a Semi­passive Mobile Platform", Springer Tracts in Advanced Robotics, Volume 25, Jul 2006, Pages 319 – 330. (1 citations­ Google; IF ?; ?; Q?)

7) Shahar SaridS, Amir ShapiroPI, “Classifying the Multi Robot Path Finding Problem into a Quadratic Competitive Complexity Class”, Springer­Verlag Dordrecht publishers, Annals of Mathematics and Artificial Intelligence, Volume 52(2­4):169–203, April 2008. (2 citations­ Google, 1 citations­ ISI ; IF 0.391; 112/115; Q4)

8) Shapiro AmirPI, Korkidi EranS, Demri AmnonT, Riemer RazielPD, Edan YaelC, Ben­Shahar OhadC, “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) : 572­590, June/July 2009. (2 citations­ Google, 1 citations­ ISI ; IF 2.747; 6/21; Q2)

9) Shahar SaridS, Amir ShapiroPI, “H­MRSTM: A Competitive Search Algorithm for Heterogeneous Group of Robots”, International Journal of Factory Automation, Robotics and Soft Computing, Issue 3: 51­58, July 2009. (2 citations­ Google ; IF N/A; N/A; Q­N/A)

10) Uri KartounS, Amir ShapiroPI, Helman SternPI, Yael EdanPI, “Physical Modeling of a Bag Knot in a Robot Learning System”, IEEE Transactions on Automation Science and Engineering, Volume 7 (1): 172­177, January 2010. (2 citations­ Google, 2 citations­ ISI ; IF 1.859; 18/59; Q2)

11) A. ShapiroPI, E. RimonC, S. ShovalC, “On the Passive Force Closure Set of Planar Grasps and Fixtures”, SAGE Publications, International Journal of Robotics Research, Volume 29 (11): 1435­1454, September 2010. (11 citations­ Google, 4 citations­ ISI ; IF 3.587; 1/21; Q1)

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12) Amir ShapiroPI, Itshak MelzerPI, “Balance Perturbation System to Improve Balance Compensatory Responses During Walking in Elderly Persons”, Journal of NeuroEngineering and Rehabilitation, Volume 7 (1): 32, July 2010. (6 citations­ Google, 3 citations­ ISI ; IF 3.259; 7/64; Q1)

13) Ron BerensteinS, Ohad Ben ShaharPI, Amir ShapiroPI, Yael EdanPI, “Grape clusters and foliage detection algorithms for autonomous selective vineyard sprayer”, Springer­Verlag publications, Intelligent Service Robotics journal, Special Issue on Agricultural Robotics, Volume 3 (4): 233­243, October 2010. (14 citations­ Google, ? citations­ ISI ; IF N/A; N/A; Q­N/A)

14) (*) Raziel RiemerPI, Amir ShapiroPI,“Biomechanical Energy Harvesting from Human Motion: Theory and Applications”, IEEE Journal of NeuroEngineering and Rehabilitation, 2011, 8:22. (14 citations­ Google, 4 citations­ ISI ; IF 3.259; 7/64; Q1)

15) Avishai SintovS, Tomer AvramovichS, Amir ShapiroPI, "Design and Motion Planning of an Autonomous Climbing Robot with Claws", the Journal of Robotics and Autonomous systems, Volume 59, Issue 11, November 2011, Pages 1008–1019. (14 citations­ Google, 10 citations­ ISI ; IF 1.615; 9/21; Q2)

16) Shraga ShovalPI, Amir ShapiroPI, "Dual Tracked Mobile Robot for Motion in Challenging Terrains", Journal of Field Robotics, 28 (5), 769­791 September 2011. (0 citations­ Google, 0 citations­ ISI ; IF 2.747; 6/21; Q2)

17) A. ShapiroPI, E. RimonC, A. Ohev­ZionS, “On the Mechanics of Natural Compliance in Frictional Contacts and its Effect on Grasp Stiffness and Stability”, SAGE Publications, International Journal of Robotics Research, Volume 32 (4): 425­445, April 2013. (0 citations­ Google, 0 citations­ ISI ; IF 3.587; 1/21; Q1)

18) Alon CapuaS, Yaakov NissimS, Ziv BrandC, and Amir ShapiroPI, "H∞ Robust Control via Singular Value Decomposition as a Design Tool for Continuous Dynamic Systems " TSME| Journal of Research and Applications in Mechanical Engineering (JRAME) ,Volume 1(3):15­20 August 2013. (0 citations­ Google, 0 citations­ ISI ; IF N/A; N/A; Q­N/A)

19) Amir ShapiroPI, Yam GevaS, Hagay BalshayS, Ilan KurzS, Yoav GimmonS, Itshak MelzerPI, "Balance perturbation system to improve balance compensatory responses during walking in old persons", International journal of Physical Medicine and Rehabilitation, March 2013. (0 citations­ Google, 0 citations­ ISI ; IF N/A; N/A; Q­N/A)

20) Avishai SintovS, Ronland MenassaC and Amir ShapiroPI, "On the Computation of a Common n­finger Robotic Grasp for a Set of Objects", International Journal of Mechanical Science and Engineering, Vol 7 (11), 34 ­ 41, Nov. 2013. (0 citations­ Google, 0 citations­ ISI ; IF N/A; N/A; Q­N/A)

21) Yam GevaS and Amir ShapiroPI, "A Novel Design of a Quadruped Robot for Research Purposes", Advanced Robotics Systems journal, 2014, 11:95.. (0 citations­ Google, 0 citations­ ISI ; IF 0.821; 14/21; Q3),

22) Alon CapuaS, Amir ShapiroPI, Shraga ShovalPI, " SpiderBot: A Cable Suspended Walking Robot Mechanism and Machine", Mechanisms and Machine Theory journal, Vol 82, pages 56­70, 2014. (0 citations­ Google, 0 citations­ ISI ; IF 1.214; 38/125; Q2)

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23) Avishai SintovS, Roland J. MenassaC and Amir ShapiroPI, "OCOG: A Common Grasp Computation Algorithm for a Set of Planar Objects", Robotics and Computer Integrated Manufacturing journal, Vol 30 (2), 124­141, April 2014. (0 citations­ Google, 0 citations­ ISI ; IF 1.230; 8/21; Q2)

24) V.T. PortmanPI, Y. ShneorPI, V.S. ChapskyT,A. ShapiroPI, "Form­shaping function theory expansion: Stiffness model of multi­axis machines", International Journal of Advanced Manufacturing Technology, 2014, 1­16. (0 citations­ Google, 0 citations­ ISI ; IF 1.205; 18/39; Q2)

25) Amir ShapiroPI, "On Robot Walking, Climbing, and Grasping", International Journal of Advanced Robotics Systems, May 2014, Pages: 21­22. (0 citations­ Google, 0 citations­ ISI ; IF 0.821; 14/21; Q3)

26) (*) Hanoch EfraimS, Gera WeissC, and Amir ShapiroPI, “Quadrotor With a Dihedral Angle: On the Effects of Tilting the Rotors Inwards”, Journal of Intelligent and Robotic Systems, January 2015, (0 citations­ Google, 0 citations­ ISI ; IF 1.178; 13/23; Q3)

27) (*) Oded Medina, Nir Shvalb, Amir Shapiro, “Motion Planning for an Actuated Flexible Polyhedron Manifold”, Advanced Robotics, accepted on Apr. 20, 2015. (0 citations­ Google, 0 citations­ ISI ; IF 0.562; 17/21; Q4)

28) (*) Gimmon Yoav, Raziel Riemer, Hisham Rashed, Shapiro Amir, Ronen Debi, Ilan Kurtz, Melzer Itzik, “Age­related differences in pelvic and trunk motion and gait adaptability at different walking speeds” Journal of Electromyography and Kinesiology, accepted on May 21, 2015.

29) (*) Jan Bontsema, Jochen Hemming, Erik Pekkeriet, Wouter Saeys, Yael Edan, Amir Shapiro, Marko Hočevar, Roberto Oberti, Manuel Armada, Heinz Ulbrich, Jörg Bauer, Benoit Debilde, Stanley Best, Sébastien Evain, Wolfgang Gauchel, Thomas Hellström, Ola Ringdahl, “CROPS: clever robots for crops”, Engineering & Technology Reference, accepted on July 6 2015.

30) (*) Medina, Oded, Shapiro, Amir, Shvalb, Nir, “Kinematics for an Actuated Flexible n­Manifold”, Journal of Mechanisms and Robotics, accepted on July 19, 2015.

Other refereed publications* *These conferences are highly prestigious and considered equivalent to journal papers (some are even more competitive than several journals). 1) S. ShovalPI, E. RimonPI, A. ShapiroS, “Design of a Spider­Like Robot for

Motion with Quasistatic Force Constraints”, The IEEE International Conference on Robotics & Automation, pages: 1377­1383, May 1999, Detroit USA. (citations: 9)

2) A. ShapiroS, E. RimonPI, S. ShovalC, “Immobilization Based Control of Spider Robots in Tunnel Environments”, The IEEE International Conference on Robotics & Automation, pages: 3636­3642, May 2001, Seoul Korea. (acceptance rate 64.5%) (citations: 2)

3) A. ShapiroS, E. RimonPI, J. W. BurdickC,“Passive Force Closure and its Computation in Compliant­Rigid Grasps”, IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 1769­1775, November 2001 Maui, Hawaii, USA. (citations: 14)

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4) A. ShapiroS and E. RimonPI, “PCG: A Foothold Selection Algorithm for Spider Robot Locomotion in 2D Tunnels”, IEEE International Conference on Robotics & Automation, pages: 2966­2972, September 2003, Taipei, Taiwan. (acceptance rate 60.5%) (citations: 12)

5) A. ShapiroS, E. RimonPI, J. W. BurdickC, “On the Mechanics of Natural Compliance in Frictional Contacts and its Effect on Grasp Stiffness and Stability”, IEEE International Conference on Robotics & Automation, pages: 1264­1269, April 2004, New Orleans, LA, USA. (acceptance rate 58.8%) (citations: 7)

6) A. ShapiroPI and S. ShovalPI, “Design and Locomotion of Semi­Passive Mobile Platform”, The 5th International Conference on Field and Service Robotics, pages: 319­330, July 29­31 2005, Port Douglas Australia.

7) S. SaridS, A. ShapiroPI, Y. GabrielyC, "MRSAM: A Quadratically Competitive Multi­Robot Online Navigation Algorithm", IEEE International Conference on Robotics & Automation, pages: 2699­2704, May 2006, Orlando, FL, USA. (acceptance rate 38.7%) (citations: 4)

8) S. SaridS, A. ShapiroPI, Y. GabrielyC, "MRBUG: A Competitive Multi Robot Path Finding Algorithm", IEEE International Conference on Robotics & Automation, pages: 877­882, April 2007, Rome Italy. (acceptance rate 43.7%) (citations: 4)

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

10) A. DeganiS, A. ShapiroPI, H. ChosetPI, M.T. MasonPI,“A Dynamic Single Actuator Vertical Climbing Robot”, IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 2901­2906, November 2007 San Diego, CA, USA. (acceptance rate 49%) (citations: 18)

11) S. ShovalPI, A. ShapiroPI, "Slippery Model for a Semi­Passive Mobile Platform Subjected to External Wrench", IEEE International Conferences on Cybernetics & Intelligent Systems and Robotics, Automation & Mechatronics (CIS­RAM 2008), pages: 749­754, Chengdu, China 3­6 June 2008.

12) A. CapuaS, A. ShapiroPI, S, ShovalPI, “Motion Analysis of an Underconstrained Cable Suspended Mobile Robot”, IEEE conference on Robotics and Biomimetics, pages: 788­793, December 2009, Guilin China. (citations: 4)

13) A. CapuaS, A. ShapiroPI, S. ShovalPI, "Motion Planning Algorithm for a Mobile Robot Suspended by Seven Cables", IEEE International Conferences on Cybernetics & Intelligent Systems and Robotics, Automation & Mechatronics (CIS­RAM 2010),pages 504­509, Singapore 28­30 June 2010. (citations: 2)

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

15) Alon CapuaS, Amir ShapiroPI, Shraga ShovalPI, “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%) (citations: 2)

16) Shahar SaridS, Amir ShapiroPI, Elon RimonC, Yael EdanC, “Classifying The Heterogeneous Multi Robot Online Search Problem Into Quadratic

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Time Competitive Complexity Class”, IEEE International Conference on Robotics & Automation (ICRA), May 2011, Shanghai, China. (acceptance rate 49%)

17) Yam GevaS,Amir ShapiroPI, “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. (acceptance rate 40%) (citations: 1)

18) Avishai SintovS, Srinivas RaghothamaC, Roland MenassaC and Amir ShapiroPI, "A Common 3­finger grasp Search Algorithm for a Set of Planar Objects", The eighth annual IEEE International Conference on Automation Science and Engineering (CASE 2012), August 20­24, 2012, Seoul, Korea. (acceptance rate 69%) (citations: 1)

19) Zisser EddieS, Shapiro AmirPI, and Riemer RazielC, "Robust Position Control of a Pneumatic Actuator", The 9th IEEE International Conference on Automation Science and Engineering, (CASE 2013), August 17­21, 2013, Madison, WI, USA

20) Avishi SintovS and Amir ShapiroPI, “Time­Based RRT Algorithm for Rendezvous Planning of Two Dynamic Systems”, IEEE International Conference on Robotics and Automation, Hong Kong, June 2014. (acceptance rate 48%)

21) (*) Avishi SintovS and Amir ShapiroPI, “A Stochastic Dynamic Motion Planning Algorithm for Object Throwing”, IEEE International Conference on Robotics and Automation, Seattle, May 2015. (acceptance rate 41%)

22) (*) Avishi SintovS and Amir ShapiroPI, "Automatic Design Algorithm of a Robotic End­Effector for a set of Sheet­Metal Parts", IEEE International Conferences on Cybernetics & Intelligent Systems and Robotics, Automation & Mechatronics (CIS­RAM 2015), pages: 19­24, Angkor Wat, Cambodia 15­17 July 2015. (acceptance rate 32%)

(e) Published scientific reports and technical papers

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

(f) Unrefereed professional articles and publications

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

(g) Classified articles and reports

­

• Lectures and Presentations at Meetings and Invited Seminars

(a) Invited plenary lectures at conferences/meetings 1) Amir Shapiro “Biomimetics and robot environment interaction”, an

invited plenary talk at the NATO ASI 2010: Advanced All­Terrain Autonomous Systems conference, August 15 – 24, 2010, Çeşme, Turkey.

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2) A. Shapiro, "Agriculture Robotics", A keynote talk at the Annual Conference of the Israeli Association for Agricultural Engineering, July 7, 2011.

3) A. Shapiro, "A Grasp of Future Industrial Robotics", A keynote talk at the Polygon Robotics Conference, March 13, 2013, Kadima, Israel.

4) A. Shapiro, "Innovative Robotic Design and its Practical Applications: Discussing the Benefits of Purpose Built Machines to Promote Safety and Enhanced Capability”, An invited Keynote Talk at the PI (Product Inovation) Congress, Berlin, 26 February 2014

(b) Presentation of papers at conferences/meetings (oral or poster)

1) 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.

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

3) S. Sarid, A. Shapiro, Y. Edan “H­MRSTM: Hetrogenous Multi Robot Time Competitive Motion Planning Algorithm, Performance Analysis and Simulations”, AUVSI­IEEE joint conference, Beer Sheva, Israel, October 6, 2010

4) H. Efraim, A. Shapiro, “On the Development of Autonomous Glider”, AUVSI­IEEE joint conference, Beer Sheva, Israel, October 6, 2010

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

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

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

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

9) 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.

10) 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 20­22, Tel­Aviv, Israel

(c) Presentations at informal international seminars and workshops 1) A. Shapiro, “Bio­ Inspired Robotics”, Feb 29, 2008. An invited workshop

at the Pragyan technology festival in the National Institute of Technology Tiruchirappalli, India.

2) A. Shapiro, “Wall Climbing Robot for Counter Terrorism Duty”, an invited lecture at the 5th Workshop on Security and the War against

Amir Shapiro 17

Terror – The Scientific Challenge, Technion­Israel Institute of Technology, April 30, 2008.

3) A. Shapiro, “Walking, Crawling, and Climbing Robots”, an invited lecture at Machanet­ a conference for Israeli intelligence forces, Ramon Air Force base, October 22­24, 2008.

4) A. Shapiro, “Climbing Robots”, an invited presentation at the ministry of industry and trade general scientist annual conference, Ben­Gurion Airport City, Nov. 27, 2008.

5) A. Shapiro, “Snake Robots and Climbing Robots”, an invited presentation and demonstration at the DLD (Digital, Life, Design) conference, Munich, Germany, January 2009

6) A. Shapiro, “Snake Robots and Climbing Robots”, an invited demonstration at the KinnerNet conference, March 2009, Ohalo.

7) A. Shapiro, “Snake Robots and Climbing Robots”, an invited demonstration at the World Innovation Summit, Sept 14 2009, Tel Aviv.

8) A. Shapiro, “Inspiration Sources for Robots Design”, an invited presentation at Kshitij annual techno­management symposium of I.I.T. Kharagpur, January 28­31, 2010, India

9) A. Shapiro, “Inspiration Sources for Robots Design”, an invited presentation Festival delle Scienze, January 13­17, 2010, Rome Italy

10) A. Shapiro and A. Ohev­Zion, “The Robotics Show”, an invited demonstration at the High Tech Industry Association Annual Conference and Delegation ­ Jerusalem 6­10 June, 2010.

11) Amir Shapiro “Agricultural Robotics", First European CROPS Workshop on Sensing and Mechanical Design, Dec 19, 2010, Wageningen, Netherlands

12) Amir Shapiro “Adaptable Grippers", First European CROPS Workshop on Sensing and Mechanical Design, Dec 19, 2010, Wageningen, Netherlands

13) Amir Shapiro and Hanoch Efraim, "Development of Unmanned Aerial Vehicle For Chasing Birds Away from Fish Ponds and Fields", The Society of Israeli Aquaculture and Marine Biotechnology (SIAMB) Workshop on Technology, and Operation of Fish Ponds – Theory and Applications, November 30, 2010, Maagan­Michael, Israel.

14) Amir Shapiro, "Climbing, Crawling, and Walking Robots", US/Israel Robotics Workshop 2011, Feb 16­17, 2011, Aberdeen Proving Ground, MD, USA.

15) Amir Shapiro, "Control of Continuous Systems", Actual problems of solids and media mechanics workshop, National Research Perm State Technical University (PSTU), and Institute of Continuous Media Mechanics UB RAS, Jun 27­29, 2011 Perm, Russia.

16) Avishai Sintov and Amir Shapiro, "Grasping the future of industrial robotic end­effectors", New­Tech Exhibition 2013, Robotics conference, May 8, 2013, Tel Aviv, Israel.

17) Avishai Sintov, Yam Geva, and Amir Shapiro, "Using MATLAB Tools for Robotic End­Effectors design and Quadruped Robot Locomotion", annual MATLAB users conference, Sep. 10, 2013, Tel Aviv, Israel.

18) Amir Shapiro, Antonio Bicchi, Yoffi Tirosh, Guy Hoffman, Liran Antebi, "Robots in Human Society", panel and presentation, The Tel­Aviv International Festival of Fantastic Film, Utopia ­ Science, Imagination and the Future, Sept. 22, 2013, Tel Aviv Israel.

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19) Amir Shapiro and AvishayTufikian, “Robots demonstration” The 2nd International Conference C5I as an Operational Force Multiplier, Marc 12, 2014, Avenue Airport city, Israel.

20) Amir Shapiro, “BGU Robotics lab“, Microsoft Think Next, Demonstration of robots, April 7, 2014, Tel­Aviv, Isreal.

21) A. Shapiro, “Quadruped Robot, Self Balancing Robots, and Climbing Robots”, an invited demonstration at the KinnerNet conference, April 2014, Nazareth, Israel.

22) Avishai Sintov and Amir Shapiro, "Motion Identification of a Robotic Arm with Joint PID Controller", IEEE 28­th convention of electrical and electronics engineers in Israel, December 5, Eilat, 2014, Israel

(d) Seminar presentations at universities and institutions

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

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

3) A. Shapiro, "Planar Spider Robots – A Step Towards Walking Machines", March 10th 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, "Motion Planning, Control, and special Structures of Mobile Robots", October 29th 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.

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

6) A. Shapiro, “On­Line Competitive Algorithms for Multi­Robot Motion Planning”, May 2, 2007. invited seminar at the Department of Information Systems Engineering, Ben­Gurion University.

7) A. Shapiro,”Mobile Robots: on Walking, Crawling, and Climbing Robots”, an Invited lecture by the Technion Students Association on July 9, 2008

8) A. Shapiro, “The Robotic Future”, an invited lecture and demonstration at Caltech, July 17, 2009. Pasadena CA.

9) A. Shapiro, “The Robotic Future”, speaking tour for AABGU, July 6­23, 2009. Los Angeles, San­Francisco, New York.

10) A. Shapiro, “The Amazing Robots of Israel”, speaking tour for AABGU, Feb 6­20, 2010. Philadelphia, New York, Chicago.

11) A. Shapiro, “The Amazing Robots of Israel”, speaking for AABGU, May 22, 2012. South Orange county New Jersey.

12) A. Shapiro, "Crawling, Walking, and Climbing Robots", A presentation at the Yuval Neeman Workshop for Science, Technology, and Security. Tel Aviv Univesity, May 21, 2013, Tel Aviv, Israel.

13) A. Shapiro, "Challenges and Safety Solutions in Agriculture Robotics", A presentation at the Israeli 7th conference on Safety, Health, and

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Environment in Agriculture. The Agriculture Research Organization, Oct. 1, 2013, Israel.

14) Amir Shapiro, "Motion Planning for Walking Robots", an Invited presentation at the AUVSI conference on Ground Mobile Robots, March 11, 2011, Rishon LeZion, Israel.

15) Amir Shapiro, "From Robot Grasping to Legged Robots and Back", an Invited seminar at Guangdong University of Technology, June 5, 2014, Guangzhou, China.

16) (*) Amir Shapiro, "Technology vs. Tunnels", an Invited presentation at the Autonomous Unmanned Systems and Robotics expo (AUS&R) organized by i­HLS, Nov. 26, 2014, Rishon LeZion, Israel.

17) (*) Amir Shapiro, "Robot Motion Planning", an Invited lecture at the Institute of Aerospace System Engineering (CASC), August 10, 2015, Shanghai, China.

• Patents

Year, name(s) of inventor(s), title of patent, patent #, country of registration 1) 2006 ­ Shraga Shoval and Amir Shapiro, "Dual Tracked Mobile Robot

for Motion in Rough Terrain". United States patent No. US 7,946,372, European patent No. EP 1957349 validated in UK, FR, and DE. Israel Patent No. IL 172078. Nov. 20, 2006

2) 2010 ­ Amir Shapiro, Itshak Melzer, “BALANCE PERTURBATION SYSTEM AND TRAINER”, United States patent No. US 20,120,071,300. May 11, 2010

3) 2013 ­ Amir Shapiro, Avishai Sintov, "METHOD AND SYSTEM FOR DESIGNING A COMMON END EFFECTOR FOR A ROBOT WHICH IS CAPABLE OF GRASPING PLURALITY OF PARTS, EACH HAVING ITS OWN GEOMETRY" PCT application No. 31442­WO­13, Sep. 15, 2013.

• Research Grants

2005 ­ Directorate of Defense Research & Development, Ministry of Defense

– State of Israel, Amir ShapiroPI, Ariel FelnerPI, Ohad Ben­ShaharPI, Solomon Eyal ShimonyPI, Hugo GuttermanPI, "Request to purchase research equipment at USA", $72,000

2004­2006 ­ Asher Peled Foundation, Technion, Elon RimonPI andAmir ShapiroPI, "An Autonomous Climbing Device for Counter­Terrorism Duty", $5,000

2006­2007 ­ ICA­Israel Colonization Association, Amir ShapiroPI, Ohad Ben­ShaharPI, Yael EdanPI, David Shapiroco, Baruch Luzonco, Boris Bordmanco, "A Robotic Apparatus for Spraying and Pollinating Date Palm Trees”, $18,000

2006­2007 – Israel Ministry of Science the Third Call of the Joint Dutch­Israeli Agricultural Science and Technology Program ­ Workshop Proposal, Israel: Yael EdanPI, Amir ShapiroPI, Ohad Ben ShaharPI, Avital BechaPIr, Dutch: Jochen HemmingPI, Eldert van HentenPI. " A new approach to future farming: small and light­weight agrobots", $17,400.

2006­2009 – Israel Ministry of Science, Slovenian­Israeli Research Cooperation in Biotechnology, Robotics, Advanced Materials, BGU: Yael EdanPI, Ohad Ben­ShacharPI, Amir ShapiroPI. Slovenia: Marko HoevarPI, Brane irokPI, Matevz DularPI, Tom BajcarPI, Niko HerakovicPI, Dragica

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NoePI, Viktor JejcicPI, Tone GodeaPI, Toma PojePI, Denis StajnkoPI, Miran LakotaPI, "Development of a robotic system for targeted spraying in orchards and vineyards" , $40,940.

2007­2008 ­ The Institute for Future Defense Technologies Research Named for the Medvedi, Shwartzman and Gensler, Elon RimonPI, and Amir ShapiroPI, “An Autonomous Climbing Device for Counter­Terrorism Duty”, $20,000.

2007­2010 ­ Rich Fund for Excellence in the Negev,Amir ShapiroPI, “Robot Motion Planning with Quasi­static Force Constraints: Theory and Experiments”, $100,000.

2008­2011­ Israel Ministry of Defense, Raziel RiemerPI, Amir ShapiroPI, Itzhak MeltzerPI, Yael EdanPI, “Development of a Technology for Harvesting Energy from Human Motion” , $79,500.

2008­2010­ Israel Ministry of Agriculture,Amir ShapiroPI, Ohad Ben­ShaharPI, Yael EdanPI, David ShapiroPI, Baruch LuzonPI, Boris BordmanPI, "A Robotic Apparatus for Spraying and Pollinating Date Palm Trees", $88,235

2008­2010­ The Institute for Future Defense Technologies Research Named for the Medvedi, Shwartzman and Gensler, Elon RimonPI, and Amir ShapiroPI, “An Autonomous Climbing Device for Counter­Terrorism Duty”, $27,440.

2008­2009­ Israel Ministry of Defense, Amir ShapiroPI and Hugo GutermanPI, “Development of a Mule­Like Quadruped Robot”, $55,000

2008­2009 ­ Israel Ministry of Defense, Amir ShapiroPI, “Deicing system for UAV wings”, $125,000

2008­2010 ­ Israel Ministry of Agriculture, Avital BecharPI, Yael EdanPI, Amir ShapiroPI, "Increase efficiency and reduce human labor in vineyards", $81,018

2009­ Paul Ivanier Center for Robotics, Amir ShapiroPI and Yael EdanPI, “Development of an energy harvesting from human motion device”, $7,500

2009­ Paul Ivanier Center for Robotics, Amir ShapiroPI, “Development of a Mule­Like Robot”, $5,600

2009­ Pearlstone center for Aeronautics research, Amir ShapiroPI, “Lab equipment budget”, $1,587

2009­2011­ The Institute for Future Defense Technologies Research Named for the Medvedi, Shwartzman and Gensler, Elon RimonPI, and Amir ShapiroPI, “An Autonomous Climbing Device for Counter­Terrorism Duty”, $10,000.

2009­2012 ­ Israel Ministry of Agriculture, Avital BecharPI, Yael EdanPI, Amir ShapiroPI, "Development of an Autonomous Pepper Sprayer", $205,263

2010­2014 – European Union FP7, Yael EdanPI, Amir ShapiroPI, Ohad Ben­ShaharPI, Sigal BermanPI, Helman SternPI, “Intelligent sensing and manipulation for sustainable production and harvesting of high valued crops, clever robots for crops”, $1,328,121.

2010­2011­ The International Judea Foundation­ Project Jacob Fakheri, Itshak MeltzerPI ,Amir ShapiroPI, “Balance Perturbation System to Improve Balance Compensatory Responses During Walking in Elderly Persons”, $40,000

2010­2012 ­ Israel Ministry of Agriculture, Amir ShapiroPI, Yael EdanPI, Ohad Ben­ShaharPI, Avital BecharPI , "Development of an Autonomous Vineyard Sprayer", $130,890.

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2010­2011­ Israel Ministry of Defense, Amir ShapiroPI, Hugo GutermanPI, Raziel RiemerPI “Development of a Mule­Like Quadruped Robot”, $54,000

2010­2013­ Planning and Budgeting Committee and Nuclear Research Center Negev, Amir ShapiroPI, “Optimal Design of Boundary condition in Elastic systems”, $22,100

2010­2013­ Planning and Budgeting Committee and Nuclear Research Center Negev, Nadav BermanPI, Amir ShapiroPI, “Model Based Control of Thermal Systems”, $22,100

2011­ Pearlstone center for Aeronautics research, Amir ShapiroPI, “Lab equipment budget”, $2500

2011­2012­ Israel Ministry of Defense, Amir ShapiroPI, Hugo GutermanPI, Raziel RiemerPI “Development of a Mule­Like Quadruped Robot”, $44,220

2011­2012­ Israel Ministry of Defense, Amir Shapiro, Hugo Guterman, “Development of a Micro­Robot”, $24,000

2011­2012­ Israel Ministry of Defense, Amir ShapiroPI, Hugo GutermanPI, Raziel RiemerPI “Development of a Mule­Like Quadruped Robot”, $24,000

2011­2013­ General Motors LTD. Amir ShapiroPI, “Reconfigurable Body Shop End­Effector – Simulation of Part Grasping and Low Cost Design Approaches for Body Shop Applications", $186,890

2011­2014­ Israel Ministry of Health, Itzhak MeltzerPI, Amir ShapiroPI, "Perturbation System to Improve Balance Compensatory Responses During Walking in Elderly Persons", $88,261

2011­2014­ Israel Ministry of Defense, Raziel RiemerPI, Amir ShapiroPI, Itzhak MeltzerPI, Shmuel Ben­YaakovPI “Development of Technology for Energy Harvesting from Human Motion”, $71,700

2012­2013­ Israel Ministry of Defense, Amir ShapiroPI, “Development of a Micro­Robot”, $27,833

2012­2013­ Israel Ministry of Defense, Raziel RiemerPI, Amir ShapiroPI, Itzhak MeltzerPI, Peretz Mor MordechayPI “Development of Technology for Energy Harvesting from Human Motion”, $55,667

2012­2013­ Israel Ministry of Defense, , Hugo GutermanPI, Amir ShapiroPI, “DARPA­BAA­12­39 – “DARPA Robotics Challenge”, $57,333

2012­2013­ Israel Ministry of Defense, Amir ShapiroPI, Hugo GutermanPI, “Development of a Micro­Robot”, $24,746

2012­2013­ Israel Ministry of Defense, Raziel RiemerPI, Amir ShapiroPI, Itzhak MeltzerPI, Shmuel Ben­YaakovPI “Development of Technology for Energy Harvesting from Human Motion”, $76,590

2013­2014­ Israel Ministry of Defense, Hugo GutermanPI, Amir ShapiroPI, “ROBIL 2 – Development of an Autonomous Front Loader Tractor ”, $56,000

2013­2016­ Planning and Budgeting Committee and Nuclear Research Center Negev, Amir ShapiroPI, “Development of Sensors based methods for analysis and control of milling machines and milling processes”, $71,484

2014­2015­ Israel Ministry of Defense, Hugo GutermanPI, Amir ShapiroPI, “ROBIL 2 – Development of an Autonomous Front Loader Tractor ”, $65,000

2014­2015­ Israel Ministry of Defense, Raziel RiemerPI, Amir ShapiroPI, Itzhak MeltzerPI, Peretz Mor MordechayPI “Development of Technology for Energy Harvesting from Human Motion”, $55,667

2014­2016 ­ BG3C­ Cincinnati Children Hospital and BGU joint research grant, Thomas IngePI, and Amir ShapiroPI, “Development of a clamp for stabilization/uniformity of traction of stomach during sleeve gastrosectomy.”, $90,000

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2014­2018 ­ Israel Science Foundation, Amir ShapiroPI and Elon RimonPI, “Minimalistic Robot Grasping Systems: Design, Caging Grasps, Dynamic Re­Grasps.”, $268,237

Total Research Grants: $3,854,885

• Present Academic Activities Research in progress

1) Development of an Autonomous Front Loader Tractor, Hugo Guterman, Amir Shapiro, Ronen Brafmen, Eyal Shimony, Guy Shany, to be completed in 2015

2) Development of a Micro­Robot, Amir Shapiro, to be completed in 2014 3) Development of Technology for Energy Harvesting from Human Motion,

Raziel Riemer, Amir Shapiro, Itzhak Meltzer, Peretz Mor Mordechay, to be completed in 2015

4) Development of Sensors based methods for analysis and control of milling machines and milling processes, Amir Shapiro, to be completed in 2016

5) Perturbation System to Improve Balance Compensatory Responses During Walking in Elderly Persons, Itzhak Meltzer, Amir Shapiro, to be completed in 2014

6) Learning Balance Reaction Control from Humans to Humanoids, Amir Shapiro, Itzik Melzer, Guy Shani, to be completed in 2018

7) Dynamic Motion planning for walking robots, Amir Shapiro, to be completed in 2017

8) Automatic Design of a Gripper for Grasping Objects of Various Shapes and Dynamic regrasping, Amir Shapiro, to be completed in 2016

9) Motion planning and control and actuation of a compliant manifold, Amir Shapiro, Nir Shvelb, to be completed in 2017

10) Vision based state estimation and motion planning, Amir Shapiro, Gera Weiss, to be completed in 2016

11) Quasi­static locomotion and dexterity of a humanoid robot, Amir Shapiro, to be completed in 2014

12) Development of a BaMPer­Balance Measure and Perturbation System, Amir Shapiro, Itzik Melzer, to be completed in 2015

Books and articles to be published

In preparation: 1) Shlomo ShemeshS and Amir ShapiroPI, "An Improved Rapidly­Exploring

Random Tree Algorithm with Application to Spatial Motion Planning of a Quadrotor Hovercraft", Advanced Robotics Systems journal, in preparation.

2) Shahar SaridS, Amir ShapiroPI, Yael EdanC, “A Competitive Search Algorithm for Heterogeneous Group of Robots”, in preparation.

3) Alon Ohev­ZionS, Amir ShapiroPI, “Stabilizing an Underactuated robot on a ball: Modeling and Control”, in preparation

4) Alon CapuaS, Amir ShapiroPI, “Robust Nonlinear H_inf Methods for Filtering, and Control of Polynomial Systems”, to be submitted to the International Journal of Robust Nonlinear Control.

5) Avishai SintovS and Amir ShapiroPI, “Automatic Design Algorithm of a Robotic End­Effector for a set of Sheet­Metal Parts”, IEEE Transactions on Automation Science and Engineering

Amir Shapiro 23

6) Avishai SintovS, Ronland MenassaC and Amir ShapiroPI, "3D­OCOG: A Common n­finger grasp Search Algorithm for a Set of 3D Objects",Journal of Robotics and Computer Integrated Manufacturing, Submitted on March 2014.

Submitted for publication (indicate journal)

1) Oded MedinaS, Amir ShapiroPI, and Nir ShvalbPI, “Minimal Actuation for an Actuated Flexible Manifold”, IEEE/ASME Transactions on Mechatronics, Submitted on March 2014, reviewed on August 2014.

2) Oded MedinaS, Amir ShapiroPI, and Nir ShvalbPI, “Motion Planning for an Actuated Flexible Polyhedron Manifold”, Robotica, Submitted on March 2014.

3) Alon Capua, and Amir Shapiro, “Robust Nonlinear H∞ Methods for Filtering and Control of, Polynomial Systems” Int. J. Robust. Nonlinear Control. submitted on September 2014 (revision required)

4) Kutrtz Ilan, Gimmon Yoav, Shapiro Amir, Debi Ronen, Snir Yoram, Melzer Itzik, “Improving balance among elderly population using unexpected perturbations during treadmill walking ­ a double blind randomized control trial”, Oxford University Press, Journal of Gerontology: Medical Sciences. JGMS­2014­RES­546 Submitted on Nov. 18, 2014.

5) Medina, Oded, Shapiro, Amir, Shvalb, Nir, “Minimal Actuation for an Actuated Flexible Manifold”, IEEE Transactions on Robotics, submitted on Nov. 23, 2014.

6) Eddie ZisserS, Avishai SintovS, Amir ShapiroPI, Raziel RiemerC, “Position Control of a Pneumatic Actuator Under Varying External Force”, Robotics and Autonomous Systems, submitted on 1/1/15.

7) Guy ShaniPI, Amir ShapiroPI, Oded GoldsteinS, Dima KaganS and Itshak MelzerPI, Validity of the Microsoft Kinect System in assessment of compensatory stepping behavior during standing and treadmill walking. Submitted to Disability and Rehabilitation: Assistive Technology ­ Manuscript ID TIDT­03­2015­007, March 25, 2015

8) Avishai SintovS and Amir ShapiroPI, “SKIP: Semi­Stochastic Kinodynamic Planning Algorithm”, submitted to Robotics and Computer Integrated Manufacturing on March 23, 2015

• Additional Information (a) Media Coverage.

1) "RoboCup", Mabat ­ Israel Channel 1 TV News, May 4th 2002 2) "Spider­Robot", Science news, The Israeli TV science channel, June 30th

2004 7:00pm. 3) "Spider­Robot", Micro­Scoop, IsraelTeva­Hadvarim TV channel, August

24th 2004 6:00pm. 4) "Robocup", Theory of Conspiracy, Israel Galey Tzhahal Radio station,

July 26th 2005 10:30pm. 5) "Documentry Program on Artificial Intelligent and Robots" Yunsoo Kim,

SBS South Korea TV channel, April 5, 2006, 6) 2004 April 4th, "Spider­Robot", Alex Doron, Maariv newspaper. 7) 2004 May, "Spider­robot to the Rescue", Technion Focus. 8) 2004 May, "Autonomous Techno­Dance", Technion Focus

Amir Shapiro 24

9) 2004 June, "Spider­Robot", Technion President's Report. 10) 2004 June, "Technion Researchers Developed Spider Robot for Motion in

Tunnels Environments", HaTechnion – The Technion Magazine. 11) 2004 June, "Spider­Robot", National Geographic Magazine, Hebrew

edition. 12) 2008 March 1, “Technology show starts at NIT­Tiruchi”, The Hindu –

India’s National Newspaper, city edition Tiruchirapalli, India. 13) 2008 May, “Work like Robots”, ABG, Ben Gurion University’s Magazine. 14) 2008 Jun. 16, “Gesture Computer Interface Device Developed For

Surgeons”, Science Daily. 15) 2008 August 19, “The Wall Climbing Robot” CalCalist news paper. 16) “IDF developing battlefield robot snake”, Dov Lieber, Jerusalem Post, Jun

9,2009,http://www.jpost.com/servlet/Satellite?cid=1244371047887&pagename=JPost%2FJPArticle%2FShowFull

17) “A Word (and video) With the Inventor of the Battlefield Snakebot and the Wall­Scaling 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, http://www.popsci.com/military­aviation­amp­space/article/2009­06/meet­inventor­battlefield­snakebot­and­wall­scaling­snailbot#

18) “Save Falling Elderly” July 7, 2009, Guy Grimland, TheMarker newspaper. 19) “Fun with homeland security robots”, March 25, 2009, Adam Wills, LA

Jewish Journal, http://www.jewishjournal.com/geekheeb/item/fun_with_homeland_security_robots_20090325/

20) “New Israeli Robots Move Like Animals”, July 23, 2009, Adam Balkin, New York 1 – NY1, http://ny1.com/Default.aspx?ArID=102798&ap=1&Flash

21) “"Spider­Man" Robot Shoots "Webs", October 5, 2009, National Geographic, http://news.nationalgeographic.com/news/2009/10/091005­spider­robot­video­ap.html

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

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

24) “ The Science Fiction is Here”, Rosh Gadol, Issue 99­100, pages 26­27, Nov­Dec 2009.

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

26) “Robotics' Wild Kingdom”, IEEE Spectrum, Jan 2010. http://spectrum.ieee.org/geek­life/profiles/robotics­wild­kingdom

27) “4 Ways To Climb a Wall, Robot Edition (Video)”, IEEE Spectrum Blog, Jan 2010, http://spectrum.ieee.org/automaton/robotics/industrial­robots/4­ways­to­climb­a­wall­robot­edition­video

28) “Boffins Create Robo Climbers”, The Sun, January 22, 2010. http://www.thesun.co.uk/sol/homepage/news/2818441/Boffins­create­robo­climbers.html

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

Amir Shapiro 25

30) "Biologically Inspired Robots", Israel Chanel 2 News, Nov 10, 2010, 8:30pm, http://www.mako.co.il/news­military/security/Article­4fec129dd273c21004.htm&sCh=31750a2610f26110&pId=786102762

31) "Can You Teach A New Robot Old Tricks?", Lori Samlin Miller, Jewish Exponent Feature, February 17, 2011, http://www.jewishexponent.com/article/22902/

32) "Remote Control War", Thursday August 26, 2011 at 9pm on CBC­TV, http://www.cbc.ca/documentaries/doczone/video.html?ID=1815694494

33) "Second View", Israel Channel 1, Wednsday Dec 21, 2011, at 9:45pm. http://www.iba.org.il/media/?recorded=1

34) "Securing the Future", Maariv newspaper (in Hebrew), Hamagazin page 10, June 3, 2012. http://www.ifat.com/MediaSite/CustomerMedia/S_ShowItem.aspx?ItemID=LIJxV1A0LWF2iFjOms9Ffw==&InfoTypeID=0&PageIndex=0&BackTo=Newsletter

35) "Climbing Robot: Novita Da Israele" (in Italian), Fare elettronica n. 298/299 Aprile/Maggio 2010. http://www.farelettronica.com/

36) " The technology market in Herzelia", Ynet, Michel Dor, Nov. 5, 2012. http://www.ynet.co.il/articles/0,7340,L­4301286,00.html

37) "Robotricks" ABG, Ben Gurion University’s Magazine. Sep, 2013. http://digitaler.co.il/Magazines/bg/bg85/index.html#2

38) "A Breeding Ground for Bots" by Madhumita Venkataramanan, WIRED Magazine, Sep. 2013. http://www.wired.co.uk/magazine/archive/2013/10/start/a­breeding­ground­for­bots

39) “Next Silicon Valleys: What makes Israel a start­up nation?” by Rory Cellan­Jones, BBC News Technology, Feb. 10, 2014, http://www.bbc.co.uk/news/technology­26071818

40) “Robots from the Israeli Desert” by Dan Arkin, Israel Homeland Security i­HLS, Feb. 19, 2014, http://i­hls.com/2014/02/robots­israeli­desert/

41) “Rise of the Machines: Why the Army Wants These Bots” by Elliott Gotkine BLOOMBERG TV, July 7, 2014. http://www.bloomberg.com/video/snake­robot­ready­for­search­and­rescue­missions­eh0D1BssSsS7nA~fr50Jqg.html

42) “He’s building robots that move like animals – including people” Susan Karlin, http://rethinkisrael.org/ , July 18, 2014. http://rethinkisrael.org/building­robots­move­like­animals­including­humans

(b) Advisor of undergraduate senior projects at BGU 1) 2005 – 4 projects – 8 students 2) 2006 – 1 project – 2 students 3) 2007­ 10 projects – 19 students 4) 2008­ 22 projects – 34 students

First prize winner of the Naiot venture accelerator ideas competition for medical and biomedical engineering students: Miri Trope, Thinnerscope: development of a robotic endoscope actuated by electro­active­polymers, 2008­2009. Winner of the 2008 Burda prize for excellent project: Daniel Reisner, Development of a Mule­like quadruped robot ­ Mechanical design, 2006­2008.

Amir Shapiro 26

5) 2009­ 12 projects ­ 23 students 6) 2010­ 6 projects – 8 students 7) 2011 – 18 projects – 28 students 8) 2012 – 16 projects – 25 students

Excellent project award recipients: Yam Geva, "Quasistatic locomotion of quadruped for walking on rough terrain" Hagai Balshai and Oren Erez, "development of the BaMPer system­ Balance measure and perturbation training system for the elderly"

9) 2013 – 10 projects – 17 students Excellent project award recipients: Moran Gad, "Energy Harvesting From Knee Motion" Shani Amar and Nadiv Medina, "Energy Harvesting From Ankle Motion"

10) 2014 – 9 projects – 18 student Excellent project award recipients: Yoav Golan, "Development of "Krembo" Wrapping Machine"

11) 2015 ­ 12 project ­ 19 students

• Synopsis of research, and Statement of Research Accomplishments and Plans Introduction: Future robots promise important role in our lives. Today’s robots may

look crude and clumsy, but projected advances in robot hardware, control, and motion planning algorithms will soon create robots that are far more useful in our everyday life. My research activities focus on bringing robotics technology to new applications and developing simple robotic systems that solve complex problems. My research can be divided into three multi­year programs. The first isBioMimetics which is the science of adapting designs from nature to solve modern problems. The second is Agriculture Robotics which strives to replace human workers by robots in agricultural applications. The third subject is Team Robotics which attempts to plan and coordinate multi­robot tasks. Specifically my main research and contributions are now focusing more on Motion Planing of Walking Robots, and on Robotics Grasp Planing and Control.

Major Accomplishments: I established the Robotics Laboratory in the department of

mechanical engineering at Ben­Gurion University in October 2006. Since then the lab has hosted, and still is, a total of 9 Ph.D. students (out of which 2 already completed), 16 master students (out of which 12 already completed), and 108 undergraduate senior projects (total 182 students). The results of my research were published in23 journalpapers (with 6 additional submissions),20 highly competitive robotics conferences papers, 43 conference papers, and 3 patents. My research also attracted media attention and has been published in popular magazines, news papers, television, and radio. This includes magazines such as BBC News, The Sun, Popular Science, WIRED, National Geographic, and IEEE­Spectrum to name a few. I was also invited to present my robots in Conferences and Technology Festivals around the world, such as the PI Congress Berlin, DLD conference in Germany, the Rome Science Festival, and 3 technology festivals in India. I have raised (with colleagues) a total of more than $3.36M for 38 different research projects. My research grants come from various funding sources some of which are highly competitive such as the EU FP7, Ministry of Agriculture, Ministry of Science, and Ministry of Defense.

Amir Shapiro 27

Research Accomplishments: The unifying theme of my work is the development of unique robot prototypes. This work includes dynamic modeling, motion planning algorithms, and control of these robots. All my work is achieved with rigorous mathematical tools such as convex optimization, Morse theory, and non­linear control methods.

In my work on Biomimetics I concentrated on various kinds of robot locomotion, but especially concentrated on walking robot motion planning and control. Specifically we developed quasistatic walking algorithms for spider­like robot, quadruped robot, and for Humanoids. I developed a spider­like robot for motion in tunnel environments [j1, j3]. I modeled the non­linear dynamic interaction between the robot and the environment based on Hertz and Mindlin compliant contact model. I developed a feedback control law for the robot and established the system’s stability [j2]. Since the system is asymmetric I developed an analytic tool for analyzing the stability of second order linear systems [j4]. I developed a convex­optimization based motion planning algorithm for the spider­like robot that guarantees minimal number of steps [j5]. Another spider­like robot that we developed is the SpiderBot which is a cable suspended robot capable of shooting arrows to the ceiling and walking on the web [j21]. This work also uses convex optimization as a motion planning tool which minimizes the cables tension [o8]. We developed a climbing snake like robot which uses continuous rolling motion [o12]. We also developed a quadruped walking robot including its control and motion planning algorithms [o4, j20]. Recently we started working on Humanoid locomotion, and dexterity as part of the ROBIL team participated in the DARPA robotics challenge [c3]. Since I am interested in walking robots, I find interest also in better understanding human walking and balance control. We developed a system for balance training for the elderly [patent 2, j12, j19, submitted 2], and we are now investigating humann balance reactions.

We also developed four types of wall climbing robots that defer by the attachment method they use [j15, o11, c31, c40]. The first is a snail inspired climbing robot that uses hot melt adhesive. The second is four legged cat­inspired robot that uses claws. The third is a four wheeled robot that uses sticky wheels with a tail mounted on pendulum to provide counter gravity torque. The fourth is a magnetic climber that uses compliant magnetic wheels to climb on ferromagnetic surfaces such as ship hulls.

In Robot Grasping and Control we modeled the grasping arrangement including the asymmetric contact model, and developed a grasp stability criterion [j4, j17]. We investigated the set of external forces and torque a passive compliant grasp can resist [j11]. For the car manufacturer GM we developed algorithms for automatically design robot end effectors which can grasp set of object [j22, j23, patent 3, submitted 4,5].

In agriculture robotics, I with colleagues at BGU developed an autonomous date palm trees sprayer that reduces human risk due to work at heights [j8]. We also developed an autonomous vineyard sprayer for accurate and selective spraying of grape clusters [j13]. In both of these designs we developed a full system which was experimented in real field conditions. In those projects I was responsible for the unique mechanical designs and development of control algorithms. My group is part of an FP7 CROPS project for developing fruit picking robot. In my group we investigate the grasp planning analysis and control [c21].

In Team Robotics, I developed several motion planning algorithms for searching targets in an unknown and unbounded environment by team robots. The first work dealt with homogeneous robots team [j7,o13,o14]. The other two algorithms are for the same problems solved by heterogeneous group of robots [j9, o5, o7]. The

Amir Shapiro 28

innovation of this work is in the unique algorithms that were developed and their complexity analysis.

Success stories: The BaMPer system which aim to train elderly people to improve their balance and reduce falls of older adults. This project was developed by Dr. Amir Shapiro and Dr. Itshak Melzer from the physical therapy department. The patent of this system was licensed by BGN to MediTouch Ltd.

The Robotics Lab received a major research grant from General Motors (the car manufacturer) to develop and algorithm to automatically design robotics end­effectors. This research led to a novel patent which will allow manufacturers to build several car models on a single production line.

The Shapiro’s group participated as part of team ROBIL in the DARPA Robotics Challenge competition which involved development of motion planning algorithms for a Humanoid robot. The lab was responsible of the quasi­static locomotion and dexterity of the robot. The team completed the VRC competition in 13 place out of 106 teams.

Collaborative work: My view is that the future of science and particularly in robotics

is in multi­disciplinary research and collaborations. Hence, I enthusiastically collaborate with other researchers. However, such collaborations are in parallel to my own independent research programs. Moreover, in all my collaborations I insist on bringing my own contribution in dynamic modeling, non­linear control, and mechanism design.

During my Post Doctoral research at the Robotics Institute of Carnegie Mellon University, I worked with Prof. Howie Choset, the Head of the Biorobotics Lab. and Dr. Alon Wolf on developing a climbing snake robot and on a bone attached robot for knee surgery. I also worked then with Prof. Matt Mason, the Head of the Robotics Institute, and with Prof. Choset on the modeling and analysis of single actuated dynamic climbing device. When coming back to BGU we established a group working on agriculture robotics. The group consists of Prof. Yael Edan from the Industrial Engineering Department, who works on systems engineering and sensor fusion, Dr. Ohad Ben­Shahar from the Computer Science Department, who works on computer vision, and myself who is responsible of the system hardware, design, control, and motion planning algorithms. Together we already won 9 grants. I was leading two of these projects (development of a dates sprayer and development of a vineyard sprayer). In all, I am the sole mechanical engineer and lead the mechanical design and control. During the summers of 2007 and 2008 I visitedProf. Joel Burdick, the head of the Robotics and BioEngineering Lab at Caltech where we worked on analysis and stability of grasping and fixturing arrangements. With Dr. Itzhak Meltzer, from the Physical Therapy Dept. at BGU, I developed the BaMPer system, which is a balance measure and improvement through training system for the elderly to prevent falls [j12, j19]. I also collaborate with prof.Hugo Guterman, from the Electrical Engineering department of BGU, working on Military related projects. Together, and with other partners from other universities and industry in Israel we form the ROBIL group that was competing in the DARPA Robotics Challenge (13 place out of 106 teams), and continues to work together on autonomous robots and to contribute to the global Robot Operating System (ROS) open source software. I am in continuous contact with European groups seeking to form consortia and submit proposal to the new Horizon 2020 program.

Amir Shapiro 29

Teaching: I am teaching an obligatory course on theTheory of Machines for third year students in Mechanical Engineering. In 2005 I received the Faculty of Engineering award for excellence in teaching this course. I am responsible for the undergraduate senior project course, where I teach students how to manage a design and development project, and how to write reports and deliver presentations. I was leading a transfer into electronics submissions of reports, and changed the design of the projects conference program and the book of abstracts. I also teach two graduate level courses, on Motion Planning and Control of Robots, and anAdvanced Subjects in Robotics course. In those courses I teach the students advanced subjects in non­linear control, search and optimization algorithms.

Other Academic Activities: I served as a Guest Editor of a special issue on Multi­robot Coverage, Search, and Exploration in the: Annals of Mathematics and Artificial Intelligence journal. I served as a session chair in many robotics and control conferences, such as the prestigious International Conference on Robotics and Automation (ICRA). Each year I serve as a mentor and advisor for teams competing in the FIRST robotics competition for high schools students.

International Recognition: The outcome of the research conducted in the Robotics

Lab was published in the most prestigious robotics journals such as the International Journal of Robotics Research, and the Journal of Field Robotics. This research was also published by the general media worldwide in magazines such as: WIRED, IEEE Spectrum, Popular Science, and National Geographic Magazine; in major TV channels such as: BBC News, CBC­TV, National Geographic, CNN­Turkey, New York 1 – NY1, and Israel channels 1, 2 and 8; and Newspapers such as: Fare elettronica (Italy), The Sun (London), LA Jewish Journal (Los Angeles), Science Daily, The Hindu – India’s National Newspaper, Yediot and Maariv in Israel.

Future Plans: My current research programs on Robot Walking and Grasping are

multi­year research programs and I intend to pursue this line of research in the future. I intend to focus my line of research on walking and grasping. Those subjects already involve several Ph.D. and master students. Particularly, I intend to continue developing advanced motion planning and control algorithms for walking machines. specifically we seek to develop algorithms for walking on very rough and challenging terrains using four legged robot or a humanoid. We seek to learn from human strategies to maintain stability and prevent fall when slip or trip occurs. And we seek to utilize dynamic effects in order to conduct complex maneuvers with and without contacts with the environment. My future research plans will expand the field of robotics grasping. I intend to investigate grasp synthesis methods for stable grasp of deformable objects such as human stomach during surgery. I also intend to investigate control methods for robotics fingers and their implication on the grasp stability and robustness. I am interested in dynamic manipulation where dynamic effects can be used for manipulating an object using fewer fingers. specifically I am interested in dynamic re­grasping planning, where a robot change the grasp location and orientation of the grasped object by utilizing dynamic effects. One example of dynamic re­grasping is planning a maneuver where a robotic arm through and object in the air, and then catch it in different orientation.