Anthony A. Maciejewski

About

Anthony A. Maciejewski is a prominent robotics researcher whose career has been defined by foundational contributions to the kinematics of robotic manipulators, particularly in addressing singularity avoidance and fault-tolerant control. His early work on numerical filtering for robotic manipulators navigating kinematically singular configurations (238 citations) tackled one of the field's most persistent challenges — the loss of independent degrees of freedom at singular poses — while his influential treatment of Singular Value Decomposition in robotics (196 citations) demonstrated that this computationally powerful technique could be practically deployed in real-time systems. Maciejewski's most distinctive research thread concerns fault tolerance in redundant manipulators. Recognizing that robots operating in hazardous or remote environments face inevitable joint failures, he developed systematic strategies for anticipating free-swinging and locked-joint failures, work that accumulated over 200 citations across multiple studies and culminated in experimental teleoperation demonstrations. His analyses of kinetic limitations on redundancy and dexterity optimization under failure conditions further shaped how engineers design and evaluate resilient robotic systems. A broader curiosity is evident in his simulation study of crowd dynamics (38 citations), reflecting interdisciplinary reach. Taken together, Maciejewski's body of work has made redundant manipulator design substantially more rigorous and reliable.

Research Focus

Key Achievements

Top Papers

1. 1
   Numerical filtering for the operation of robotic manipulators through kinematically singular configurations

   238 citations · 1988
2. 2
   The Singular Value Decomposition: Computation and Applications to Robotics

   196 citations · 1989
3. 3
   Fault tolerance for kinematically redundant manipulators: anticipating free-swinging joint failures

   129 citations · 1998
4. 4
   Dexterity optimization of kinematically redundant manipulators in the presence of joint failures

   87 citations · 1994
5. 5
   Failure-tolerant path planning for kinematically redundant manipulators anticipating locked-joint failures

   63 citations · 2006
6. 6
   Kinetic limitations on the use of redundancy in robotic manipulators

   63 citations · 1991
7. 7
   Redundant Robots

   48 citations · 2016
8. 8
   Optimal mapping of joint faults into healthy joint velocity space for fault-tolerant redundant manipulators

   38 citations · 2011
9. 9
   A simulation of attempts to influence crowd dynamics

   38 citations · 2004
10. 10
    Failure tolerant teleoperation of a kinematically redundant manipulator: an experimental study

    34 citations · 2003

Key Collaborators

Contact & Links