Laboratory of mechatronics, control and prototyping
The Laboratory of mechatronics, control and prototyping conducts development research and application of new mechatronics components, algorithms and software for mechatronic devices optimal design development.
Team
Oleg
Balakhnov
Laboratory assistant
Laboratory assistant
Oleg
Bulichev
Junior research fellow
Junior research fellow
Mikhail
Ivanou
Lead developer
Lead developer
Ramil
Khusainov
Researcher, candidate of engineering sciences
Researcher, candidate of engineering sciences
Sergei
Savin
Senior researcher, candidate of engineering sciences
Senior researcher, candidate of engineering sciences
Shamil
Mamedov
Junior researcher
Junior researcher
Nailia
Sadykova
Junior research engineer
Junior research engineer
Anna
Fedorenko
Researcher, candidate of engineering sciences
Researcher, candidate of engineering sciences
All team
Scientific activity
The laboratory conducts research and development work with the focus on control system design and development for industrial robots, the development of new principles and models of robotic systems control, the development of multi-level and hierarchical control systems, the development of modular control systems, the development of universal control systems.
Scientific research includes algorithms of the implicit algorithms for force-torque determination, the development of new advanced hardware for force-torque sensing and force-torque data processing algorithms, the use of force moment measurements for identifying dynamic models, multiplexing force-torque measurements for more accurate determination of artificial skin technologies.
The laboratory team conduct development research in innovative tools and mechanisms for 3D printing (plastic, aluminum and cement), the development of manipulators for 3D printing of large objects.
Аctivities
- Dynamics and control systems
- Humanoid robots and promoters
- Actuators and systems
- Modeling and design of complex robotic systems
- Perception, manipulation and remote control
- Mechatronics, robot sensory system and perception means
- Additive technologies and robotic systems prototyping
- Mobile Robotics
- Service Robotics
Publications
Journal
2017
Comparison of kinematic and dynamic leg trajectory optimization techniques for biped robot locomotion
| Authors: | R Khusainov, A Klimchik, E Magid |
| Publisher: | IOP Publishing |
| Source: | Journal of Physics: Conference Series |
Book
2018
Kinematic and Dynamic Approaches in Gait Optimization for Humanoid Robot Locomotion
| Authors: | Ramil Khusainov, Alexandr Klimchik, Evgeni Magid |
| Publisher: | Springer, Cham |
| Source: | Book Informatics in Control, Automation and Robotics |
Journal
2017
Arbitrary trajectory foot planner for bipedal walking
| Authors: | Ramil Khusainov, A Klimchik, E Magid, A Sagitov |
| Publisher: |
Journal
2017
Humanoid robot kinematic calibration using industrial manipulator
| Authors: | Ramil Khusainov, Alexandr Klimchik, Evgeni Magid |
| Publisher: | IEEE |
| Source: | Conference Mechanical, System and Control Engineering (ICMSC), 2017 International Conference |
Journal
2017
Real-world large-step stair-climbing for small humanoids using evolutionary computation
| Authors: | V Berezhnoy, A Klimchik, N Mavridis |
| Publisher: | IEEE |
| Source: | Conference Intelligent Systems Conference (IntelliSys), 2017 |
Conference
2018
Generation of motion patterns with turns for bipedal walking robot based on actuated 3D Dual-SLIP model
| Authors: | Ramil Khusainov, Shamil Mamedov, Alexandr Klimchik, Evgeni Magid |
| Publisher: | |
| Source: | 2018 2nd School on Dynamics of Complex Networks and their Application in Intellectual Robotics (DCNAIR), Saratov, Russia |
Journal
2020
(Русский) Learning Stabilizing Control Policies for a Tensegrity Hopper with Augmented Random Search
| Authors: | Vladislav Kurenkov, Hany Hamed, Sergei Savin |
| Publisher: | IEEE |
| Source: | 2020 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM) |
Journal
2020
(Русский) Mathematical modelling of tensegrity robots with rigid rods
| Authors: | Sergei Savin, Lyudmila Vorochaeva, Vladislav Kurenkov |
| Publisher: | |
| Source: | Компьютерные исследования и моделирование |
Journal
2019
(Русский) ИССЛЕДОВАНИЕ РАБОТЫ СИСТЕМЫ КОРРЕКТИРОВКИ ДЛИНЫ КОРПУСА В ПРОЦЕССЕ ИЗМЕНЕНИЯ КОНФИГУРАЦИИ ТРЕХЗВЕННОГО ПОЛЗАЮЩЕГО РОБОТА
| Authors: | Ворочаева Л.Ю., Савин С.И., Яцун А.С. |
| Publisher: | "Новые технологии" (Москва) |
| Source: | Журнал "Мехатроника, автоматизация, управление" |
Journal
2020
(Русский) An Approach to Moving over Obstacles for a Wheeled Jumping Robot
| Authors: | Vorochaeva (Volkova) L. Y., Savin S. I., Malchikov A. V. |
| Publisher: | |
| Source: | Russian Journal of Nonlinear Dynamics |
Journal
(Русский) Approaches to Development of Mechanical Design and Jumping Motion for a Wheeled Jumping Robot
| Authors: | Vorochaeva, L.Y., Savin, S.I., Malchikov, A.V. and Leon, A.S.M |
| Publisher: | |
| Source: | Control and Signal Processing Applications for Mobile and Aerial Robotic Systems |
Journal
(Русский) ZMP-Based Trajectory Generation for Bipedal Robots Using Quadratic Programming
| Authors: | Sergey Savin |
| Publisher: | |
| Source: | Control and Signal Processing Applications for Mobile and Aerial Robotic Systems |
Journal
2020
(Русский) Convex Optimization-based Stiffness Control for Tensegrity Robotic Structures
| Authors: | Sergei Savin, Oleg Balakhnov, Alexandr Klimchik |
| Publisher: | IEEE |
| Source: | Материалы конференции 2020 28th Mediterranean Conference on Control and Automation (MED) |
Journal
2020
(Русский) Linearization-Based Forward Kinematic Algorithm for Tensegrity Structures with Compressible Struts
| Authors: | Sergei Savin, Oleg Balakhnov, Alexandr Maloletov |
| Publisher: |
Projects
Mechatronics, control and prototyping
Development of a hardware-software complex for ensuring movement on smooth and rough terrain of anthropomorphic robotic systems with variable stiffness drives
✓ Completed
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Mechatronics, control and prototyping
Intelligent methods for creating and improving motion primitives for anthropomorphic robots
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Mechatronics, control and prototyping
Development of a rigidity model and methods for compensating for compliance errors for walking anthropomorphic platforms
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Mechatronics, control and prototyping
Development of a hardware-software complex of an anthropomorphic walking robot
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Mechatronics, control and prototyping
Development of a universal robotic with high cross-country performance - StriRus
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Mechatronics, control and prototyping
Development of the modeling and control methods for reconfigurable cable robots taking into account elastic deformations of mechanical elements
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All team
Contact us
+7 (843) 203 92 53
