Difference between revisions of "SergeySavin"

From IU
Jump to navigation Jump to search
 
(One intermediate revision by the same user not shown)
Line 1: Line 1:
  +
  +
Is with Robotics and Computer Vision Institute
   
 
== Courses ==
  
== Courses ==
Line 4: Line 6:
 
* [https://eduwiki.innopolis.university/index.php/BSc:ControlTheory Control Theory]
  
* [https://eduwiki.innopolis.university/index.php/BSc:ControlTheory Control Theory]
 
* [https://eduwiki.innopolis.university/index.php/MSc:ComputationalIntelligence Computational Intelligence]
  
* [https://eduwiki.innopolis.university/index.php/MSc:ComputationalIntelligence Computational Intelligence]
  +
* [https://eduwiki.innopolis.university/index.php/BSc:ContactAwareControl Contact-Aware Control]
  +
  +
== Interests ==
  +
  +
Studied simulation and control of walking robots, tensegrity structures, in-pipe robots, exoskeletons, multi-link mechanisms, variable stiffness actuators. Studied trajectory optimization, motion over uneven terrain, optimization-based control, use of neural networks in feedback control design, was part of the development of the world first [https://youtu.be/zVhOF4nyfeI tensegrity flying robot], developed [https://github.com/SergeiSa/SRD software package SRD] for automatic equation generation, control design, motion planning, simulation and robot motion animation.
  +
  +
== A few chosen papers ==
  +
  +
* Savin S, Balakhnov O, Khusainov R, Klimchik A. State Observer for Linear Systems with Explicit Constraints: Orthogonal Decomposition Method. Sensors. 2021; 21(18):6312 [https://www.mdpi.com/1424-8220/21/18/6312/pdf 10.3390/s21186312]
  +
  +
* Savin, S., 2017, June. An algorithm for generating convex obstacle-free regions based on stereographic projection. In Control and Communications (SIBCON), 2017 International Siberian Conference on (pp. 1-6). IEEE. DOI: [https://www.researchgate.net/publication/319025489_An_algorithm_for_generating_convex_obstacle-free_regions_based_on_stereographic_projection 10.1109/SIBCON.2017.7998590]
  +
  +
* Savin, S., Khusainov, R. and Klimchik, A., 2019. Control of Actuators with Linearized Variable Stiffness. IFAC-PapersOnLine, 52(13), pp.713-718. DOI: [https://www.sciencedirect.com/science/article/pii/S2405896319311498 10.1016/j.ifacol.2019.11.199]
  +
  +
* Savin, S., 2018, September. Neural network-based reaction estimator for walking robots. In 2018 International Russian Automation Conference (RusAutoCon) (pp. 1-6). IEEE. DOI: [https://www.researchgate.net/profile/Sergei-Savin/publication/328761563_Neural_Network-Based_Reaction_Estimator_for_Walking_Robots/links/5c422886a6fdccd6b5b6fa79/Neural-Network-Based-Reaction-Estimator-for-Walking-Robots.pdf 10.1109/RUSAUTOCON.2018.8501736]
  +
  +
* Savin, S. and Vorochaeva, L., 2017, June. Footstep planning for a six-legged in-pipe robot moving in spatially curved pipes. In Control and Communications (SIBCON), 2017 International Siberian Conference on (pp. 1-6). IEEE. DOI: [https://www.researchgate.net/publication/319031649_Footstep_planning_for_a_six-legged_in-pipe_robot_moving_in_spatially_curved_pipes 10.1109/SIBCON.2017.7998581]

Latest revision as of 12:21, 1 November 2021

Is with Robotics and Computer Vision Institute

Courses

Interests

Studied simulation and control of walking robots, tensegrity structures, in-pipe robots, exoskeletons, multi-link mechanisms, variable stiffness actuators. Studied trajectory optimization, motion over uneven terrain, optimization-based control, use of neural networks in feedback control design, was part of the development of the world first tensegrity flying robot, developed software package SRD for automatic equation generation, control design, motion planning, simulation and robot motion animation.

A few chosen papers

  • Savin S, Balakhnov O, Khusainov R, Klimchik A. State Observer for Linear Systems with Explicit Constraints: Orthogonal Decomposition Method. Sensors. 2021; 21(18):6312 10.3390/s21186312
  • Savin, S., 2017, June. An algorithm for generating convex obstacle-free regions based on stereographic projection. In Control and Communications (SIBCON), 2017 International Siberian Conference on (pp. 1-6). IEEE. DOI: 10.1109/SIBCON.2017.7998590
  • Savin, S., Khusainov, R. and Klimchik, A., 2019. Control of Actuators with Linearized Variable Stiffness. IFAC-PapersOnLine, 52(13), pp.713-718. DOI: 10.1016/j.ifacol.2019.11.199
  • Savin, S., 2018, September. Neural network-based reaction estimator for walking robots. In 2018 International Russian Automation Conference (RusAutoCon) (pp. 1-6). IEEE. DOI: 10.1109/RUSAUTOCON.2018.8501736
  • Savin, S. and Vorochaeva, L., 2017, June. Footstep planning for a six-legged in-pipe robot moving in spatially curved pipes. In Control and Communications (SIBCON), 2017 International Siberian Conference on (pp. 1-6). IEEE. DOI: 10.1109/SIBCON.2017.7998581
Retrieved from "https://eduwiki.innopolis.university/index.php?title=SergeySavin&oldid=1078"