Papers
9
Total Citations
79
H-Index
4
About
Amir Fijany is a pioneer in computational robotics, specializing in parallel algorithms and specialized architectures for real-time robot control and simulation. His work centers on solving fundamental kinematic and dynamic problems—such as Jacobian inversion, forward dynamics, and operational space control—by exploiting mathematical structures to achieve unprecedented computational efficiency. Fijany’s most cited paper (31 citations) introduces a symbolic, closed-form method for efficient Jacobian inversion in spherical wrist manipulators, enabling faster task-to-joint space transformations. He also advanced parallel computation for robotics, as seen in his work on the Harris corner detector for SIMD architectures (16 citations) and his foundational contributions to parallel computation systems for robotics (10 citations). Notably, Fijany developed the Algorithmically Specialized Parallel Architecture for Robotics Computations (ASPARC) and the Universal Real-Time Robotic Controller and Simulator (URRCS), which integrate algorithmic insight with hardware design to achieve significant speedups. His later research includes a novel algorithmic framework for space robot dynamics simulation, leveraging Schur complement factorization to handle floating-base systems. With a career spanning from the early 1990s through the 2010s, Fijany’s work remains influential for researchers seeking high-performance solutions in robot control, simulation, and parallel computing.
Research Focus
Key Achievements
Top Papers
- 1Efficient Jacobian inversion for the control of simple robot manipulators31 citations · 2003
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- 3Parallel Computation Systems for Robotics10 citations · 1992
- 4Parallel Computation Of Forward Dynamics Of Manipulators8 citations · 1993
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- 9Parallel Architecture For Robotics Computation2 citations · 1990