T. Shamir

Weizmann Institute of Science, Hebrew University of Jerusalem

Papers

Total Citations

107

H-Index

About

T. Shamir is a robotics researcher whose work has made significant contributions to the understanding and control of kinematically redundant robotic manipulators — robotic arms equipped with extra degrees of freedom that allow greater flexibility in movement and task execution. Shamir's most influential work, "The Singularities of Redundant Robot Arms" (1990), has garnered 74 citations and remains a foundational reference in the field, rigorously analyzing the singular configurations that arise when mapping higher-dimensional joint spaces to lower-dimensional work spaces — a critical consideration for safe and reliable robot operation. Complementing this, his 1990 paper on the dynamical problems of controlling redundant manipulators (24 citations) systematically compares control algorithms and their dynamic behaviors, providing practical guidance for robotics engineers. Shamir has also made sustained contributions to understanding the global behavior of redundant manipulators, warning against relying solely on local kinematic solutions, which can lead to instability and non-repeatability. His 2002 overview paper revisits and consolidates these themes, demonstrating a long-term commitment to advancing robust, theoretically grounded approaches to redundant robot control. His body of work remains essential reading for researchers working at the intersection of kinematics, dynamics, and robot motion planning.