Amir Takhmar
Papers
9
Total Citations
111
H-Index
6
About
Amir Takhmar is a robotics researcher whose work spans bipedal locomotion, collision detection, and surgical robotics. He has made significant contributions to the planning, stability analysis, and control of biped robots, developing innovative approaches to gait planning on both flat and irregular terrain. His early work produced multiple control strategies for bipedal systems — including sliding mode control, Modified Transpose Jacobian control, and Cartesian-based gait planning — collectively earning over 65 citations and establishing him as a notable voice in humanoid robotics. A particularly influential contribution is his introduction of the Moment-Height Stability (MHS) measure, a novel metric for monitoring the dynamic postural equilibrium of biped robots. Beyond locomotion, Takhmar has addressed the practical challenges of industrial robotics, developing time-variant thresholds to counteract modeling errors in sensorless collision detection for robotic manipulators — his most cited work with 32 citations. More recently, he has extended his expertise into medical robotics, investigating haptic feedback in cooperative teleoperation systems for minimally invasive surgery. Together, his body of work reflects a researcher driven by both theoretical rigor and real-world applicability across diverse robotic domains.
Research Focus
Key Achievements
Top Papers
- 1
- 2Regulated Sliding Mode Control of a Biped Robot26 citations · 2007
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- 5MHS measure for postural stability monitoring and control of biped robots10 citations · 2008
- 6Modified Transpose Jacobian control of a biped robot9 citations · 2007
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