Anton Shiriaev
Norwegian University of Science and Technology, Umeå University
Papers
42
Total Citations
992
H-Index
16
About
Anton Shiriaev is a distinguished researcher whose work spans nonlinear control theory, underactuated mechanical systems, and robotics automation. He is best known for pioneering the use of **virtual holonomic constraints** as a powerful framework for designing and stabilizing periodic motions in complex robotic systems — a contribution that has fundamentally shaped how researchers approach underactuated systems such as the Furuta pendulum and the Pendubot, with his foundational papers in this area accumulating nearly 200 citations combined. Shiriaev's research elegantly bridges theory and experiment, as demonstrated by his work on orbital stabilization — asking provocative questions like whether a robot can perform a pirouette — which garnered over 100 citations and inspired new directions in locomotion and motion planning. His investigations into biped walking, parallel elastic actuators, and non-prehensile manipulation further reflect the breadth of his contributions to robotic motion control. Beyond pure robotics, Shiriaev has made meaningful inroads into industrial automation, notably advancing crane trajectory planning for forestry machines to reduce operator training burdens, reflecting a commitment to real-world impact. With a body of work exceeding 700 citations across diverse domains, his research continues to influence both academic control theory and practical robotic applications worldwide.
Research Focus
Key Achievements
Top Papers
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- 6New approach for swinging up the Furuta pendulum: Theory and experiments58 citations · 2009
- 7Stable Walking Gaits for a Three-Link Planar Biped Robot With One Actuator52 citations · 2013
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