Publications of Yizhar Or:
Ph. D. Thesis:
“Frictional Equilibrium Postures for Robotic
Locomotion –
Computation, Geometric
Characterization, and Stability Analysis”,
Supervised by
Awarded
the Pnueli Prize of excellence, Faculty of Mechanical Engineering, Technion,
2008
Journals Papers:
1.
Y. Or and
Multiple-Contact Postures in
Two-Dimensional Gravitational Environments”, Int. J. of
Robotics Research, 25(11):
1071-1086, 2006 PDF
2. E.
Based on Stratified Morse
Theory with Application to Quasi-Static Locomotion Planning”,
IEEE Trans. on Robotics,
24(3):626-641, 2008 PDF
3.
Y. Or and R. M. Murray, “Dynamics and Stability of a Class of Low
Reynolds
Number Swimmers Near a
Wall”,
Physical Review E 79(4):045302, 2009 PDF,
supplementary document PDF
4.
Y. Or and
Frictional Equilibrium
Postures in 3D Gravitational Environments”,
Int. J. of Robotics
Research, 29(1): 3–22, 2010 PDF
5.
number swimmer near a
wall”, Physical Review E 81(3):036313, 2010 PDF
6. Y. Or, “Dynamics and stability of Purcell's three-link
microswimmer near a wall”,
Physical Review E 82(6):065302(R), 2010 PDF ;
supplementary document PDF
7.
Y. Or and A. R. Teel, “Zeno Stability of the Set-Valued Bouncing
Ball”, technical note,
IEEE Trans. On
Automatic Control, 56(2):447-452, 2010.
PDF.
A supplementary
technical report with more details is available here.
8.
Y. Or and A. D. Ames, “Stability and Completion of Zeno Equilibria in
Lagrangian Hybrid
Systems”, IEEE
Trans. On Automatic Control, 56(6):1322-1336, 2011 PDF
9. Y. Or,
S. Zhang and R.
M. Murray,
“Dynamics and stability of low-Reynolds-number
swimming near a
wall”, SIAM J. of Applied Dynamical Systems, 10(3):1013-1041, 2011 PDF
10. Y. Or and
Mechanism
Sliding Motion”, Nonlinear Dynamics (in press) DOI:
10.1007/s11071-011-0094-3 PDF
11. Y. Or, “Asymmetry and stability of shape kinematics in microswimmers
motion”,
Physical Review Letters 108:258101, 2012. Marked as
“Editor’s Suggestion” PDF .
Supplementary document available here.
12. E. Passov and Y. Or, “Dynamics of Purcell's three-link
microswimmer with a passive elastic tail”,
European
Physical Journal E 35:78, 2012 PDF. Supplementary document available here.
Refereed Papers in Conference Proceedings:
1.
Y. Or and
Dimensional Gravitational
Field", Proc. of 2004 IEEE Int. Conf. on Robotics and
Automation, pp. 4783-4788 PDF
2.
Y. Or and
Multiple-Contact Postures in 2D
Gravitational Environments", Proc. of 2005 IEEE
Int. Conf. on Robotics and
Automation, pp. 247-252 PDF
3.
Y. Or and
Dimensional Gravitational
Environments", Proc. of 2006 IEEE Int. Conf. on
Robotics and Automation, pp.
1984-1989 PDF
4.
Y. Or and
Frictional 3-Contact
Equilibrium Stances in Three-Dimensions", Proc. of 2007
IEEE
Int. Conf. on Robotics and Automation, pp. 193-198 PDF
5.
D. Meltz, Y. Or and
Characterization of Dynamic
Jamming in Frictional Rigid-Body Mechanics", Proc.
of 2007 IEEE
Int. Conf. on Robotics and Automation, pp. 580-585 PDF
6.
Y. Or and
by Frictional Contacts. I:
Necessary Conditions for Stability", Proc. of 2008 IEEE
Int. Conf. on Robotics and
Automation, pp. 1213-1218 PDF
7.
Y. Or and
by Frictional Contacts. II:
Stability of Two-Contact Rigid Body Postures", Proc. of
2008 IEEE
Int. Conf. on Robotics and Automation, pp. 1219-1224 PDF
8.
Y. Or and A. D. Ames, "Stability of Zeno Equilibria in Lagrangian Hybrid
Systems",
Proc. IEEE Conf. on Decision and Control 2008, pp. 2770-2775 PDF
9.
Y. Or and A. D. Ames, "Formal and Practical Completion of Lagrangian
Hybrid
Systems", Proc. American
Control Conference (ACC) 2009, pp. 4221-4226 PDF
10.
Y. Or and A. D. Ames, “Existence of Periodic Orbits with Zeno Behavior in
Completed Lagrangian Hybrid
Systems”, Hybrid Systems: Computation and Control,
Lecture Notes on Computer
Science, Springer-Verlag, 2009, pp. 291-305 PDF.
Technical report (long) PDF
11.
Y. Or, J. Vankerschaver, S. D. Kelly, R. M. Murray and J. E. Marsden,
“Geometric
Control of Particle Manipulation in a Two-Dimensional Fluid”,
to appear in
Proc. IEEE Conf. on Decision and Control (CDC) 2009 PDF
winner of Guan Zhao-Zhi Best Paper Award
12.
S. Zhang, Y. Or and R. M. Murray, “Experimental demonstration of the
dynamics
and stability of
a low Reynolds number swimmer near a plane wall”, in Proc. 2010
American Control
Conference (ACC) pp. 4205-4210 PDF
Supplemental
video files can be found here
13.
Y. Or and A. R. Teel, “Using the Set-Valued Bouncing Ball for Bounding
Zeno
Solutions of
Lagrangian Hybrid Systems”, in Proc. 2010 IFAC Symposium on Nonlinear
Control Systems
(NOLCOS2010) pp. 801-806, PDF
14.
J. Spitz, Y Or and M. Zacksenhouse, “Towards a Biologically Inspired Open
Loop
Controller for
Dynamic Biped Locomotion”, to appear in Trans. IEEE Conf. on
biomimetics and
robotics (ROBIO), 2011 PDF
15.
B. Gamus and Y. Or. “Analysis of dynamic bipedal robot locomotion with
stick-slip transitions”,
submitted
to 2013 IEEE Int. Conf. on Robotics and Automation PDF
Technical Reports:
1.
Y. Or and
Postures in 2D Gravitational
Environments", 2004, PDF
2.
Y. Or and
Three-Dimensional
Gravitational Environments", 2005
PDF
3.
Y. Or and
Dimensional Gravitational
Environments", 2006 PDF
4.
Y. Or and A. D. Ames, "Stability of Zeno Equilibria in Lagrangian Hybrid
Systems",
California Inst. of
Technology, 2008, Technical report CaltechCDSTR:2008.002 PDF
5.
Y. Or and A. D. Ames, "Existence of Periodic Orbits in Completed
Lagrangian Hybrid Systems
with Non-Plastic
Collisions", 2008, Technical Report PDF
6.
Y. Or and A. R. Teel, “The Set-Valued Bouncing Ball”, longer
version PDF.