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.
Table of contents (28 chapters)
Front Matter
Pages i-xv
Modeling and Control of Manipulators, Multi-link Robots
Front Matter
Pages 1-1
Simulation of Foot Movement During Walking Based on the Study of Different Step Parameters
Andrey Malchikov, Alexander Pechurin, Andrey Jatsun
Pages 3-18
Mathematical Modeling of the Biomechanical Rehabilitation System of Foot Exoskeleton in Frontal and Sagittal Planes
Andrey Knyazev, Andrey Jatsun, Andrey Fedorov
Pages 19-32
Simulation of Controlled Motion of the Actuator of Robotic Systems in the Presence of Coupling Forces
Evgeny Subbotin, Andrey Jatsun
Pages 33-44
Digital Control by Robot Manipulator with Improved Rigidity
Eugene Larkin, Aleksey Bogomolov, Aleksandr Privalov
Pages 45-59
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
Neural Network Approach for Solving Inverse Kinematics Problem of Modular Reconfigurable Systems
Aleksei Erashov, Anton Saveliev, Dmitriy Blinov
Pages 77-91
Algorithm of Trajectories Synthesis for Modular Wheeled Inspection Robot
Ildar Nasibullayev, Oleg Darintsev
Pages 93-107
Interaction and Control of Robot Group
Front Matter
Pages 109-109
Download chapter PDF
Study of Algorithms for Coordinating a Group of Autonomous Robots in a Formation
Viacheslav Pshikhopov, Mikhail Medvedev, Boris Gurenko
Pages 111-134
Intelligent System for Countering Groups of Robots Based on Reinforcement Learning Technologies
Vladimir Parkhomenko, Tatiana Gayda, Mikhail Medvedev
Pages 135-146
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
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
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
Approaches to Optimizing Individual Maneuvers of Unmanned Aerial Vehicle
Oleg Korsun, Alexander Stulovskii, Sergey Kuleshov, Alexandra Zaytseva
Pages 193-205
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
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
System of Decentralized Control of a Group of Mobile Robotic Means Interacting with Charging Stations
Vladimir Kostyukov, Viacheslav Pshikhopov
Pages 235-263
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
Heterogeneous Robots in Monitoring and Service Tasks
Front Matter
Pages 279-279
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Control of Robotic Mobile Platform for Monitoring Water Bodies
Sergey Efimov, Dzhamil Safarov, Sergey Jatsun
Pages 281-293
Control System of Small-Unmanned Aerial Vehicle for Monitoring Sea Vessels on Coastal Territory of Ecuador
Andres Santiago Martinez Leon, Luis Miguel Mosquera Morocho, Oksana Emelyanova
Pages 295-314
Development of an Algorithm for Coverage Path Planning for Survey of the Territory Using UAVs
Valeria Lebedeva, Igor Lebedev
Pages 315-329
Computer Vision System of Robot Control for Monitoring Objects in Radioactive Areas
Andrei Malchikov, Petr Bezmen
Pages 331-342
Method for Searching Deployment Zones of Ground Seismic Sensors by a Heterogeneous Group of UAVs in an Environment with a Complex Topography
Roman Iakovlev, Valeria Lebedeva, Ivan Egorov, Vitaly Bryksin, Andrey Ronzhin
Pages 343-358
Method of Autonomous Survey of Power Lines Using a Multi-rotor UAV
Anton Saveliev, Igor Lebedev
Pages 359-376
Walking Robots for Agricultural Monitoring
Dmitry Dobrynin, Yulia Zhiteneva
Pages 377-386
Computational Approach to Optimal Control in Applied Robotics
Elizaveta Shmalko
Pages 387-401
Highly Maneuverable Small-Sized Wheeled Mobile Robotic Construction Platform
Ekaterina Saveleva, Evgeny Politov
Pages 403-417
Control System for Robotic Towing Platform for Moving Aircraft
Dmitry Afonin, Alexander Pechurin, Sergey Jatsun
Pages 419-431
Simple Task Allocation Algorithm in a Collaborative Robotic System
Rinat Galin, Roman Meshcheryakov, Mark Mamchenko
Pages 433-447
