Ramil Khusainov
Publications:
Savin S. I., Khusainov R. R.
Sparse Node-Distance Coordinate Representation for Tensegrity Structures
2022, Vol. 18, no. 5, pp. 885-898
Abstract
In this work, a nonminimal coordinate representation of tensegrity structures with explicit
constraints is introduced. A method is proposed for representation of results on tensegrity
structures in sparse models of generalized forces, providing advantages for code generation for
symbolic or autodifferentiation derivation tasks, and giving diagonal linear models with constant
inertia matrices, allowing one not only to simplify computations and matrix inversions, but also
to lower the number of elements that need to be stored when the linear model is evaluated along
a trajectory.
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Golousov S. V., Khusainov R. R., Savin S. I.
Compliant Control for Walking Robots with the Use of a Virtual Spring-Damper System
2019, Vol. 15, no. 4, pp. 477-485
Abstract
The paper deals with one of the modern challenges in walking robotics: moving across
a rough terrain where the geometry of the terrain is unknown and hence it is impossible to plan
precise trajectories for the robot feet in advance, before a collision with the supporting surface
occurs. In this paper, an algorithm for the dynamics correction of the foot trajectory based on
the compliant control is employed to deal with the problem. Additionally, to solve the problem
of dynamic correction of the foot trajectory, it also provides a biomorphic reaction force profile,
which might be a desired property for some applications.
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