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).
Publications:
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Tafrishi S. A., Bai Y., Svinin M., Esmaeilzadeh E., Yamamoto M.
Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot
2019, Vol. 15, no. 4, pp. 611-622
Abstract
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.
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