Frontiers in Robotics and Electromechanics

Preface
Contents
Editors and Contributors
Part I Modeling and Control of Manipulators, Multi-link Robots
1 Simulation of Foot Movement During Walking Based on the Study of Different Step Parameters
	1.1 Introduction
	1.2 Kinematic Equations of the Key Points of the Foot
	1.3 Construction of the Trajectory of the Key Points of the Foot
	1.4 Smoothing and Polynomialization of the Trajectory
	1.5 Comparison of the Experimental Trajectory with the Mathematically Processed Trajectory
	1.6 Solving the Inverse Kinematics Problem
	1.7 Lower Limb Motion Modeling with MATLAB
	1.8 Conclusion
	References
2 Mathematical Modeling of the Biomechanical Rehabilitation System of Foot Exoskeleton in Frontal and Sagittal Planes
	2.1 Introduction
	2.2 The Structural Diagram of the Ankle Rehabilitation System
		2.2.1 The Kinematic Diagram
	2.3 Angle of Rotation Ranges of the Foot
	2.4 Mathematical Model of the Biomechanical System
		2.4.1 Mathematical Model of the System in the Sagittal Plane
	2.5 Experimental Results of Foot Motion in the Sagittal Plane
		2.5.1 Investigation of the Mathematical Model in the Frontal Plane
		2.5.2 Experimental Results of Foot Movement in the Frontal Plane
	2.6 Conclusion
	References
3 Simulation of Controlled Motion of the Actuator of Robotic Systems in the Presence of Coupling Forces
	3.1 Mathematical Model of Coupling Forces
	3.2 Calculation Scheme of the Interaction of the Device with the Environment and Nodes
	3.3 Mathematical Expressions for Modeling
	3.4 Block Diagram of the Device Control System
	3.5 Description of the Mathematical Model of the Automatic Control System
	3.6 Conclusions
	References
4 Digital Control by Robot Manipulator with Improved Rigidity
	4.1 Introduction
	4.2 Operational Unit Positioning Control System Statics
	4.3 Operational Unit Positioning Control System Dynamics
	4.4 Digital Control by Manipulator Positioning
	4.5 Conclusion
	References
5 Performance Evaluation of Multigrid Brute-Force Solutions of Inverse Kinematics Problem for the Robotis OP2 Humanoid Hand
	5.1 Introduction
	5.2 System Setup
	5.3 Algorithms Description
		5.3.1 Brute-Force Algorithm
		5.3.2 Matrix-Based Brute-Force Algorithm
	5.4 Testing
	5.5 Experimental Results Analysis
	5.6 Discussion
	5.7 Conclusions
	References
6 Neural Network Approach for Solving Inverse Kinematics Problem of Modular Reconfigurable Systems
	6.1 Introduction
	6.2 Related Works
	6.3 Material and Methods
		6.3.1 Algorithm of ANNs Learning for Solving IK Problem of Modular RSs
		6.3.2 Dataset Generation
	6.4 Experiments of Modeling an Autonomous Robotic System
	6.5 Conclusion
	References
7 Algorithm of Trajectories Synthesis for Modular Wheeled Inspection Robot
	7.1 Introduction
	7.2 Mathematical Model
	7.3 Parametric Analysis of Robot Kinematics
	7.4 Features of the Robot Dynamics
	7.5 Conclusion
	References
Part II Interaction and Control of Robot Group
8 Study of Algorithms for Coordinating a Group of Autonomous Robots in a Formation
	8.1 Introduction
	8.2 Mathematical Model of the UAV and the Formulation of the Problem
	8.3 Formation Algorithms
	8.4 Results of the Study of Formation Algorithms
	8.5 Conclusion
	References
9 Intelligent System for Countering Groups of Robots Based on Reinforcement Learning Technologies
	9.1 Introduction
	9.2 Problem Description
	9.3 Algorithms
	9.4 Neural Network Architecture
	9.5 Preliminary Processing
	9.6 Reward Function
	9.7 Training
	9.8 Conclusion
	References
10 LIRS-MazeGen: An Easy-to-Use Blender Extension for Modeling Maze-Like Environments for Gazebo Simulator
	10.1 Introduction
	10.2 Related Work
	10.3 Maze Generation Module
		10.3.1 Graphical User Interface
		10.3.2 Experimental Considerations
		10.3.3 3D-Maze Modeling
	10.4 Maze Environment Validation
	10.5 Conclusions
	References
11 Modeling of Joint Motion Planning of Group of Mobile Robots and Unmanned Aerial Vehicle
	11.1 Introduction
	11.2 Problem Statement
	11.3 Review of Methods for Planning the Movement of Mobile Robots in a Group
	11.4 Applying Tangential Avoidance to Calculate the Paths of Mobile Robots in a Group
	11.5 Experiments
	11.6 Formation and Landing
	11.7 Determining How to Build a Communication Field to Transmit Data from a UAV to a Group of Ground Robots
	11.8 Conclusion
	References
12 Simulation of Controllable Motion of a Flying Robot Under the Action of Aerodynamic Force of a Bioinspired Flapping Wing
	12.1 Introduction
	12.2 Flapping Wing Kinematics
	12.3 Model of Force in the Interaction of a Wing with Air
	12.4 Aircraft Motion Control
	12.5 Conclusion
	References
13 Approaches to Optimizing Individual Maneuvers of Unmanned Aerial Vehicle
	13.1 Introduction
	13.2 Mathematical Model of the Aircraft and Problem Formulation
	13.3 Modification of Direct Control Method
	13.4 General Methodological Foundations of UAV Formation Control
	13.5 Results of the Study
	13.6 Conclusion
	References
14 Neural Network Technologies in the Tasks of Estimating and Forecasting the Resource of Power Supply Systems in Robotic Complexes
	14.1 Introduction and Problem Statement
	14.2 Related Works
	14.3 Investigation of the Influence of Temperature and Electric Field Strength on the Breakdown of Polymer Materials of the Thermofluctuation Theory
		14.3.1 Problem Statement and Its Solution
		14.3.2 Calculation of the Time to Breakdown Based on the Thermofluctuation Theory
		14.3.3 Experimental Investigation
	14.4 Investigation of Magnetic Induction in an Inhomogeneous Dielectric
		14.4.1 Case of Homogeneous Insulation
		14.4.2 Case of Inhomogeneous Insulation
	14.5 Conclusion
	References
15 Instantaneous Common-Mode Voltage Reduction of Three-Phase Multilevel Voltage Source Inverter Under Quarter-Wave-Symmetric Space Vector PWM with Full Set of Vectors
	15.1 Introduction
	15.2 Zero-Common-Mode-Voltage Space Vectors Applying
	15.3 Common-Mode Voltage Reduction Under Applying of Full Set of Space Vectors
	15.4 Computer Simulation
	15.5 Conclusion
	References
16 System of Decentralized Control of a Group of Mobile Robotic Means Interacting with Charging Stations
	16.1 Introduction
	16.2 Synthesis of a Method for Decentralized Control of the Process of Functioning of a Generalized Doubly Connected Technical System
		16.2.1 Problem Statement
		16.2.2 Control System for a Distributed Generalized Network, Including Mobile Robotic Vehicles and Docking Stations
		16.2.3 Method of Decentralized Interaction of Mobile and Stationary Objects of the DGN
	16.3 Decentralized Control Method for a DGN Containing a Group of UAVs and a Station for Recharging Them
	16.4 Simplified Model of UAV Energy Consumption
	16.5 Required Energy Characteristics of a Recharging Station Based on a Wind Power Plant
	16.6 Simulation
	16.7 Conclusion
	References
17 Method for Optimizing the Trajectory of a Group of Mobile Robots in a Field of Repeller Sources Using the Method of Characteristic Probabilistic Functions
	17.1 Introduction
	17.2 The Problem Statement
	17.3 Methods for Constructing a Program Trajectory of a Ground-Based Robotic Platform Under the Influence of Disturbance Sources
		17.3.1 Method for Optimizing Local Sections of the Trajectory Based on the Characteristic Probabilistic Function
		17.3.2 Method for Reducing Oscillations and Trajectory Length When Planning Motion in a Region with Sources
	17.4 Correction of Individual Trajectories of Ground-Based Robotic Platforms Forming a Group Under the Influence of Disturbance Sources
	17.5 Additional Correction of Trajectories Taking into Account Obstacles
	17.6 Simulation Results
	17.7 Conclusion
	References
Part III Heterogeneous Robots in Monitoring and Service Tasks
18 Control of Robotic Mobile Platform for Monitoring Water Bodies
	18.1 Introduction
	18.2 Robotic Mobile Platform Scheme
	18.3 Mathematical Model of RMP
	18.4 RMP Control System
	18.5 RMP Motion Planning Algorithm
	18.6 Synthesis of the Optimal Regulator
	18.7 Results of Simulation
	18.8 Conclusions
	References
19 Control System of Small-Unmanned Aerial Vehicle for Monitoring Sea Vessels on Coastal Territory of Ecuador
	19.1 Introduction
	19.2 Structure of the System for Monitoring Sea Vessels in Coastal Areas
	19.3 SUAV Motion Control
	19.4 SUAV Control Algorithms
	19.5 Planning of SUAV Flight Trajectory
	19.6 Vision System
	19.7 Conclusions
	References
20 Development of an Algorithm for Coverage Path Planning for Survey of the Territory Using UAVs
	20.1 Introduction
	20.2 Requirements for the Algorithm for Constructing a Covering Trajectory
	20.3 Development of an Algorithm for Constructing a Covering Path for a Polygon
	20.4 Result of Operation of the Algorithm
	20.5 Conclusion
	References
21 Computer Vision System of Robot Control for Monitoring Objects in Radioactive Areas
	21.1 Introduction
	21.2 Scheme and Principle of the Mobile Robot Operation
	21.3 Mathematical Model and Principle of the Control System Operation
	21.4 Formation of the Data About a Studied Object
	21.5 Mathematical Modeling of the Control System in the Object Scanning Mode
	21.6 Conclusion
	References
22 Method for Searching Deployment Zones of Ground Seismic Sensors by a Heterogeneous Group of UAVs in an Environment with a Complex Topography
	22.1 Introduction
	22.2 Related Works
	22.3 Method of Searching Deployment Zones for Ground Seismic Sensors by Means of a Heterogeneous Group of UAVs
	22.4 Results
	22.5 Conclusion
	References
23 Method of Autonomous Survey of Power Lines Using a Multi-rotor UAV
	23.1 Introduction
	23.2 Description of the Developed Method of Autonomous Survey of PTL
	23.3 Description of the Developed Algorithms for UAV Movement According to Given Patterns of Trajectories
	23.4 Experimental Results
	23.5 Conclusion
	References
24 Walking Robots for Agricultural Monitoring
	24.1 Introduction
	24.2 Application Scenario
	24.3 Types of Walking Robots and Their Gaits
	24.4 Work Requirements
	24.5 Industrial Analogues
	24.6 Conclusion
	References
25 Computational Approach to Optimal Control in Applied Robotics
	25.1 Introduction
	25.2 Problem Statement of the Synthesized Optimal Control
	25.3 Methods Overview
	25.4 Computational Example
	25.5 Conclusions
	References
26 Highly Maneuverable Small-Sized Wheeled Mobile Robotic Construction Platform
	26.1 Introduction
	26.2 Proposed Structure and Description of the MRCP
	26.3 Mathematical Model of MRCP Movement with Two Independent Driving Wheels
	26.4 MRCP Movement Control
	26.5 Planning of MRCP Trajectory Movement
	26.6 Conclusions
	References
27 Control System for Robotic Towing Platform for Moving Aircraft
	27.1 Introduction
	27.2 Control Methods for Wheeled Robots
	27.3 Design of a Robotic Aircraft Tug
	27.4 External Environment Perception System
	27.5 Description of the Positioning Control System Using an Optical Sensor Based on an Optronic Matrix
	27.6 Description of the Work Area
	27.7 Construction of a Piecewise Linear Trajectory
	27.8 Determination of Positioning Relative to the Line with the Help of an Optronic Matrix
	27.9 Synthesis of Multi-channel Controller for Robot Motion
	27.10 Example of Simulation of RMB Motion Along a Contrasting Line
		27.10.1 Simulation Results
	27.11 Conclusion
	References
28 Simple Task Allocation Algorithm in a Collaborative Robotic System
	28.1 Introduction
	28.2 Problem Statement and Algorithmic Solution
	28.3 MATLAB Simulation
	28.4 Conclusions and Future Work
	References