Frontiers in Robotics and Electromechanics

1. Front Matter

   Pages i-xv

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2. Modeling and Control of Manipulators, Multi-link Robots

   1. Front Matter

      Pages 1-1

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   2. Simulation of Foot Movement During Walking Based on the Study of Different Step Parameters

      • Andrey Malchikov, Alexander Pechurin, Andrey Jatsun

      Pages 3-18

   3. Mathematical Modeling of the Biomechanical Rehabilitation System of Foot Exoskeleton in Frontal and Sagittal Planes

      • Andrey Knyazev, Andrey Jatsun, Andrey Fedorov

      Pages 19-32

   4. Simulation of Controlled Motion of the Actuator of Robotic Systems in the Presence of Coupling Forces

      • Evgeny Subbotin, Andrey Jatsun

      Pages 33-44

   5. Digital Control by Robot Manipulator with Improved Rigidity

      • Eugene Larkin, Aleksey Bogomolov, Aleksandr Privalov

      Pages 45-59

   6. Performance Evaluation of Multigrid Brute-Force Solutions of Inverse Kinematics Problem for the Robotis OP2 Humanoid Hand

      • Linar Zagidullin, Tatyana Tsoy, Kuo-Hsien Hsia, Edgar A. Martínez-García, Evgeni Magid

      Pages 61-75

   7. Neural Network Approach for Solving Inverse Kinematics Problem of Modular Reconfigurable Systems

      • Aleksei Erashov, Anton Saveliev, Dmitriy Blinov

      Pages 77-91

   8. Algorithm of Trajectories Synthesis for Modular Wheeled Inspection Robot

      • Ildar Nasibullayev, Oleg Darintsev

      Pages 93-107

3. Interaction and Control of Robot Group

   1. Front Matter

      Pages 109-109

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   2. Study of Algorithms for Coordinating a Group of Autonomous Robots in a Formation

      • Viacheslav Pshikhopov, Mikhail Medvedev, Boris Gurenko

      Pages 111-134

   3. Intelligent System for Countering Groups of Robots Based on Reinforcement Learning Technologies

      • Vladimir Parkhomenko, Tatiana Gayda, Mikhail Medvedev

      Pages 135-146

   4. LIRS-MazeGen: An Easy-to-Use Blender Extension for Modeling Maze-Like Environments for Gazebo Simulator

      • Anzhelika Iskhakova, Bulat Abbyasov, Timophey Mironchuk, Tatyana Tsoy, Mikhail Svinin, Evgeni Magid

      Pages 147-161

   5. Modeling of Joint Motion Planning of Group of Mobile Robots and Unmanned Aerial Vehicle

      • Aleksander Shirokov, Alexander Salomatin, Rinat Galin, Vasiliy Zorin

      Pages 163-177

   6. Simulation of Controllable Motion of a Flying Robot Under the Action of Aerodynamic Force of a Bioinspired Flapping Wing

      • Sergey Efimov, Oksana Emelyanova, Sergey Jatsun

      Pages 179-191

   7. Approaches to Optimizing Individual Maneuvers of Unmanned Aerial Vehicle

      • Oleg Korsun, Alexander Stulovskii, Sergey Kuleshov, Alexandra Zaytseva

      Pages 193-205

   8. Neural Network Technologies in the Tasks of Estimating and Forecasting the Resource of Power Supply Systems in Robotic Complexes

      • Nikolay Poluyanovich, Dmitriy Burkov, Marina Dubyago

      Pages 207-219

   9. Instantaneous Common-Mode Voltage Reduction of Three-Phase Multilevel Voltage Source Inverter Under Quarter-Wave-Symmetric Space Vector PWM with Full Set of Vectors

      • Nikolay Lopatkin

      Pages 221-234

   10. System of Decentralized Control of a Group of Mobile Robotic Means Interacting with Charging Stations

       • Vladimir Kostyukov, Viacheslav Pshikhopov

       Pages 235-263

   11. Method for Optimizing the Trajectory of a Group of Mobile Robots in a Field of Repeller Sources Using the Method of Characteristic Probabilistic Functions

       • Vladimir Kostyukov, Viacheslav Pshikhopov

       Pages 265-278

This book introduces intellectual control systems and electromechanics of heterogeneous robots. The book uncovers fundamental principles of robot control and recent developments in software and hardware of robots. The book presents solutions and discusses problems of single robotic devices as well as heterogeneous robotic teams while performing technological tasks that require informational, physical or energetic interaction with human users, environment and other robots. The book considers model–algorithmic and software–hardware control of ground, water and underwater robots, unmanned aerial vehicles, as well as their embedded and attached sub-systems, including manipulators, end-effectors, sensors, actuators, etc. The book will be useful for researchers of interdisciplinary issues related to robotics, electromechanics and artificial intelligence. The book is recommended for graduate students with a major/minor in the areas of robotics and mechatronics, management in technical systems, Internet of Things, artificial intelligence, electrical engineering, mechanical engineering and computer science.

• Robotics
• Automation
• Electromechanics
• Artificial Intelligence
• Intelligent Systems

• St. Petersburg Federal Research Center of the Russian Academy of Sciences, St. Petersburg, Russia

  Andrey Ronzhin

• Research Institute of Robotics and Control Systems, Southern Federal University, Rostov-on-Don, Russia

  Viacheslav Pshikhopov

Prof. Andrey Ronzhin is Director of St. Petersburg Federal Research Center of the Russian Academy of Sciences (SPС RAS). He is a specialist in the field of human–machine interaction research, artificial intelligence and robotics. Under his leadership, the technological foundations for the application of artificial intelligence and machine learning methods in the digital means of natural language analysis and control of interoperable socio-cyber-physical and robotic systems were developed. Mathematical and algorithmic models, methods and prototypes of proactive automation tools for information, physical and energy interaction of heterogeneous robotic and cyber-physical complexes have been developed. He is Deputy Editor-in-Chief of the journal "Informatics and automation," Member of the Editorial Board of the journals "Analysis and Data Processing Systems," "Speech Technologies." He is Member of the Scientific Boards of Departments of the Russian Academy of Sciences "Scientific Foundations of Information Technologies and Automation," “Robotics and Mechatronics,” “Theory and control processes,” “Mechanical engineering.” He is Member of Scientific Board of Robotics and Mechatronics of the Russian Academy of Sciences, the Academy of Navigation and Motion Control. He is Co-chair of International Conference on Interactive Collaborative Robotics (ICR) and Chair of Program Committee of International Conference on Agriculture Digitalization and Organic Production (ADOP). He is Co-editor of 11 books and  Co-author of over 300 refereed journal papers, 4 manuals, 2 monographs.


Prof. Viacheslav Pshikhopov is Director of Research Institute of Robotics and Control Systems, Southern Federal University. He is Director of Coordinating Research and Development Center for Control Systems of Southern Federal University and Founder and Leader of Youth Design Agency “Robotics and intellectual systems.” He is Member of the Academy of Engineering Sciences, named after A.M. Prokhorov. His research interests cover control systems of mobile robots and manipulators; adaptive and optimal control of moving objects; group control of mobile robots, bio-inspired control of robots. Under his leadership, the control theory of complex dynamical systems in uncertain environment was developed. The bio-inspired method of unstable modes for control of mobile robots and the group of mobile robots was developed, and the problem of analytical design of optimal control performance for manipulators and mobile robots was solved. The developments of his scientific school have been implemented in dozens of samples of mobile robots, including aeronautical platforms, wheeled and tracked robots and unmanned boats. He is one of the organizers and coordinators of the Interdepartmental Coordinating Scientific and Technical Council for Information Management and Processing Systems. He is Member of the Editorial Board of the journals “Facta Universitatis,” “Mechatronics, Automation, Control,” “Informatics and Automation.” He is Co-author of over 320 refereed journal papers, 20 patents, 11 monographs.

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