Saba Kohannim
Papers
3
Total Citations
7
H-Index
2
About
Saba Kohannim’s research lies at the intersection of robotics, nonlinear dynamics, and bio-inspired locomotion, with a focus on understanding and optimizing how mechanical systems move through complex environments. Her major contributions center on the theory of mechanical rectification—the process by which periodic body movements are converted into sustained propulsive force—and its application to turning gaits. In her most-cited work, “Optimal turning gait for undulatory locomotion” (2012, 3 citations), she formulated the optimal gait problem as a minimization of a cost function under constraints on average tangential and rotational velocities, using a bilinear rectifier model. She extended this framework in subsequent papers (2014, 2016; 2 citations each) to general multibody systems and three-dimensional motion, providing a systematic method for designing efficient turning maneuvers in robotic locomotors. Though her citation counts are modest, Kohannim’s work offers foundational insights into the control and optimization of undulatory and rectifier-based robots, bridging theoretical mechanics with practical robotic design. Her research is particularly valuable for students and engineers interested in locomotion control, nonlinear dynamics, and the mathematical modeling of animal-inspired movement.
Research Focus
Key Achievements
Top Papers
- 1Optimal turning gait for undulatory locomotion3 citations · 2012
- 2
- 3