Publications

Journal Papers

  • 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, In press, 2014 (IEEE PDF).
  • Period Doubling of a Dynamic Single Actuator Robot Climbing a Chute.
    Amir Degani, Howie Choset and Matthew T. Mason, IEEE Transactions on Robotics – Under review

Refereed Book Chapters

Refereed Conference Proceedings

  • 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.
  • 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).
  • 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)
  • 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 –PDF

Technical Reports and Thesis

  • Minimalistic Dynamic Climbing, Amir Degani, PhD Thesis, CMU-RI-TR-10-38, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, November, 2010. Thesis Page
  • A minimalist dynamic climbing robot: Modeling, analysis and experiments, Amir Degani, Thesis Proposal – CMU-RI-TR-09-28, Robotics Institute, Carnegie Mellon Universiy, Pittsburgh, PA, June 2009. PDF