Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”

1. Front Matter

   Pages i-xvii

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2. Keynote Lectures

   1. Front Matter

      Pages 1-1

      PDF

   2. Biologically Inspired Bipedal Locomotion—From Control Concept to Human-Like Biped

      • Patrick Vonwirth, Atabak Nejadfard, Karsten Berns

      Pages 3-14

   3. Artificial Intelligence Based Framework for Robotic Search and Rescue Operations Conducted Jointly by International Teams

      • Evgeni Magid, Artyom Pashkin, Nikita Simakov, Bulat Abbyasov, Jackrit Suthakorn, Mikhail Svinin et al.

      Pages 15-26

   4. Control of Hyperlinked Cyber-Physical Systems

      • Roman Meshcheryakov

      Pages 27-33

   5. Modeling and Prototyping of a Multi-linked Wheeled Apparatus Imitating Movement of Robots Snake

      • Vladimir Pavlovsky, Maria Andreeva, Natalia Petrovskaya

      Pages 35-49

   6. Resonant Adjustment of Vibrating Machines with Unbalance Vibroexciter. Problems and Solutions

      • Grigory Panovko, Alexander Shokhin

      Pages 51-62

   7. Comparative Analysis of the Industrial Exoskeleton Control Systems

      • Sergey Jatsun, Andrei Malchikov, Andrey Yatsun

      Pages 63-74

3. Robotics and Automation

   1. Front Matter

      Pages 75-75

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   2. Footstep Planning for Bipedal Robots and Lower Limb Exoskeletons Moving Through Narrow Doors

      • Sergei Savin, Andrey Yatsun, Oksana Loktionova

      Pages 77-88

   3. Inverse Kinematics for Steerable Concentric Continuum Robots

      • Dmitrii Kolpashchikov, Viacheslav Danilov, Nikita Laptev, Igor Skirnevskiy, Roman Manakov, Olga Gerget et al.

      Pages 89-100

   4. Study of the Jumping Robot Acceleration Modes

      • Lyudmila Vorochaeva, Andrei Malchikov, Petr Bezmen

      Pages 101-112

   5. Inverse Kinematics Solution for Robots with Simplified Tree Structure and 5-DoF Robot Arms Lacking Wrist Yaw Joint

      • Igor Shardyko, Igor Dalyaev, Ilias Nanyageev, Oleg Shmakov

      Pages 113-124

   6. Admissible Region ZMP Trajectory Generation for Bipedal Robots Walking Over Uneven Terrain

      • Sergei Savin, Ramil Khusainov, Alexandr Klimchik

      Pages 125-136

   7. Development of Multipurpose Mobile Platform with a Modular Structure

      • Nikita Pavliuk, Ilya Kharkov, Eldar Zimuldinov, Vladimir Saprychev

      Pages 137-147

   8. A Model of Four-Finger Gripper with a Built-in Vacuum Suction Nozzle for Harvesting Tomatoes

      • Quyen Vu, Andrey Ronzhin

      Pages 149-160

   9. Dynamics and Rigidity of Simulation Control on a 3-DoF Manipulator

      • Serikbay Kosbolov, Assylbek Toilybayev, Maxat Amreyev, Algazy Zhauyt, Nurshat Uteliyeva, Gulnar Sadikova et al.

      Pages 161-169

   10. Dynamic Model of Technological Equipment Drive with S DOFs

       • Dmitry Ershov, Irina Lukyanenko

       Pages 171-182

   11. Dynamics of a New Parallel Structure Mechanism with Motors Mounted on the Base Outside the Working Area

       • Anton Antonov, Aleksandr Aleshin, Viktor Glazunov, Gagik Rashoyan, Sergey Skvortsov, Konstantin Shalyukhin et al.

       Pages 183-195

   12. Positioning Error Calculation of the Relative Manipulation Mechanism Output Link

       • Vasiliy Nikolaevich Pashchenko, Vasiliy Vasilyevich Pashchenko, Aleksey Lachikhin, Artem Timoshenko, Konstantin Shalyukhin, Sergey Skvortsov

       Pages 197-208

This book features selected papers presented at the 14th International Conference on Electromechanics and Robotics ‘Zavalishin’s Readings’ – ER(ZR) 2019, held in Kursk, Russia, on April 17–20, 2019. The contributions, written by professionals, researchers and students, cover topics in the field of automatic control systems, electromechanics, electric power engineering and electrical engineering, mechatronics, robotics, automation and vibration technologies. The Zavalishin's Readings conference was established as a tribute to the memory of Dmitry Aleksandrovich Zavalishin (1900–1968) – a Russian scientist, corresponding member of the USSR Academy of Sciences, and founder of the school of valve energy converters based on electric machines and valve converters energy. The first conference was organized by the Institute of Innovative Technologies in Electromechanics and Robotics at the Saint Petersburg State University of Aerospace Instrumentation in 2006. The 2019 conference was held with the XIII International Scientific and Technical Conference “Vibration 2019”, and was organized by Saint Petersburg State University of Aerospace Instrumentation (SUAI), Saint Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences (SPIIRAS) and the Southwest State University (SWSU) in with cooperation Russian Foundation for Basic Research (project No. 19-08-20021).

• Cyber-physical Systems
• Smart Robotics Systems
• Renewable Energy Systems
• Mechatronics
• Vibration Technologies
• Zavalishin's Readings
• ER(ZR) 2019

• St. Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences, St. Petersburg, Russia

  Andrey Ronzhin

• Saint Petersburg State University of Aerospace Instrumentation, St. Petersburg, Russia

  Vladislav Shishlakov

Prof. Andrey Ronzhin is Director of Saint Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences (SPIIRAS) and Head of the Department of Electromechanics and Robotics Systems at Saint Petersburg University of Aerospace Instrumentation. His research focuses on the interaction of autonomous robotic systems and users in a cyber-physical environment. He is a member of Scientific Board of Robotics and Mechatronics of Russian Academy of Sciences; the Academy of Navigation and Motion Control; the International Speech Communication Association’s committee on East Europe; Co-Chairman of the international conferences Speech and Computer (SPECOM), and Interactive Collaborative Robotics (ICR); and Chairman of the interdisciplinary workshop Analysis of Conversational Russian Speech (AR-3). He is Deputy Editor-in-Chief of SPIIRAS Proceedings Journal.

Prof. Vladislav Shishlakov is Vice-Rector for Educational Technologies and Innovative Activities, Saint Petersburg State University of Aerospace Instrumentation (SUAI) and Head of the Department of Management in Technical Systems. Prof. Shishlakov has been an Honorary Worker at the Ministry of Education and Science of the Russian Federation since 2009. He is the author of three books and more than 200 scientific papers (teaching publications, programs, algorithms, articles, reports). His research interests are related to the development of the methods of synthesis of nonlinear of automatic control systems, which are continuous, and with different types of signal modulation, as well as the development and research of electromechanical and electric power systems and complexes based on the effects of high-temperature superconductivity.