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    Mikhail Svinin

    Mikhail Svinin
    1-1-1 Nojihigashi, Kusatsu, Shiga, 525-8577 Japan
    College of Information Science and Engineering, Ritsumeikan University

    Professor at the College of Information Science and Engineering, Ritsumeikan University

    He received the Ph.D. degree from Saint Petersburg Informatics and Automation Institute, Saint Petersburg, Russia, and conducted postdoctoral studies at the Institute of Automatic Control, Darmstadt Technical University, Germany, as an Alexander von Humboldt Research Fellow, and at Tohoku University, Japan, as a JSPS post-doctoral fellow. His research interests include robotics, control theory, analytical mechanics, and modeling of human movements.

    Dr. Svinin is a member of the Institute of Electrical and Electronic Engineers (IEEE) and the Robotics Society of Japan (RSJ).


    Tafrishi S. A., Bai Y., Svinin M., Esmaeilzadeh E., Yamamoto M.
    In this paper, the rest-to-rest motion planning problem of a fluid-actuated spherical robot is studied. The robot is driven by moving a spherical mass within a circular fluid-filled pipe fixed internally to the spherical shell. A mathematical model of the robot is established and two inverse dynamics-based feed-forward control methods are proposed. They parameterize the motion of the outer shell or the internal moving mass as weighted Beta functions. The feasibility of the proposed feed-forward control schemes is verified under simulations.
    Keywords: inverse dynamics, motion planning, spherical robots, fluid actuator
    Citation: Tafrishi S. A., Bai Y., Svinin M., Esmaeilzadeh E., Yamamoto M.,  Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot, Rus. J. Nonlin. Dyn., 2019, Vol. 15, no. 4, pp. 611-622

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