Modern Problems of Robotics: Second International Conference, MPoR 2020, Moscow, Russia, March 25–26, 2020, Revised Selected Papers (Communications in Computer and Information Science)

226 Pages·2021·37.681 MB·English

by  Arkady Yuschenko (editor)

Arkady Yuschenko (Ed.)
Communications in Computer and Information Science 1426
Modern Problems
of Robotics
Second International Conference, MPoR 2020
Moscow, Russia, March 25–26, 2020
Revised Selected Papers
Communications
in Computer and Information Science 1426
EditorialBoardMembers
JoaquimFilipe
PolytechnicInstituteofSetúbal,Setúbal,Portugal
AshishGhosh
IndianStatisticalInstitute,Kolkata,India
RaquelOliveiraPrates
FederalUniversityofMinasGerais(UFMG),BeloHorizonte,Brazil
LizhuZhou
TsinghuaUniversity,Beijing,China
Moreinformationaboutthisseriesathttp://www.springer.com/series/7899
Arkady Yuschenko (Ed.)
Modern Problems
of Robotics
Second International Conference, MPoR 2020
Moscow, Russia, March 25–26, 2020
Revised Selected Papers
Editor
ArkadyYuschenko
BaumanMoscowStateTechnicalUniversity
Moscow,Russia
ISSN 1865-0929 ISSN 1865-0937 (electronic)
CommunicationsinComputerandInformationScience
ISBN 978-3-030-88457-4 ISBN 978-3-030-88458-1 (eBook)
https://doi.org/10.1007/978-3-030-88458-1
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Preface
ThebookcontainstheproceedingsoftheInternationalConference“ModernProblems
of Robotics 2020”, dedicated to RAS academician Evgeny Popov, which took place
during March 25–26, 2020, in Moscow, Russia. E. P. Popov was one of the founders
ofscientificroboticsinRussia.HeworkedasaprofessoratBaumanMoscowTechni-
calUniversity(BMSTU)till1997.Sincehisdeparturetheuniversityhasconductedan
annualconferencededicatedtohimanddevotedtothemostinterestingoftoday’sinves-
tigationsinrobotics.Amongourauthorsareknownscientistsandyounginvestigators
fromRussia,Germany,Hungary,Armenia,andKazakhstan.
Amongthenewtrendsinroboticsiscollaborativerobotics-thebranchdevotedto
the problem of co-working humans and robots. To work in an interactive mode with
a human, a robot must be partially autonomous and “intelligent”. The psychological
problemsofsuchinteractionmustalsobeconsidered.Someoftheproblemsconnected
withhuman-robotinteractionareconsideredinthefirstpartofthebook.
The second partisdevoted totheproblems ofrobotdesign andsimulation,which
isanecessarypartofdesign.Amongtheproblemsunderdiscussionarethelocomotion
algorithmsformobilerobotsincludingtheunderwaterones.Fortheareaofrobotdesign,
themainfocusisnowondynamicsofmovementanddynamicstability.Anotherimpor-
tantandmodernproblemisteachingarobottomovecorrectly.Reinforcementlearning
isoneofthemeanstosolvetheproblem.
Thethirdpartofthebookconsidersthecontrolofrobotsandroboticcomplexes.Here
we find similar problems for industrial robots as for climbing, underwater, and flying
robots.Infact,alltypesofcontrolsystemsbecomemoreandmore“intelligent”using
differentsensorsandthedistributedsensorsystemsnecessarytoworkautonomouslyin
partiallyundeterminedenvironments.
Wehopethatourinvestigationswillbeusefulforcolleaguesallovertheworld.We
aresurethattheincreasingcomplexityofroboticsystemsneedsthewidecooperation
ofallinterestedengineersandscientists.
March2020 ArkadyYuschenko
Organization
GeneralChair
AnatolyA.Alexandrov BaumanMoscowStateTechnicalUniversity,
Russia
ProgramCommitteeChair
ArkadyS.Yushchenko BaumanMoscowStateTechnicalUniversity,
Russia
SteeringCommittee
VladimirV.Serebrenniy BaumanMoscowStateTechnicalUniversity,
Russia
lvanL.Ermolov RussianAcademyofSciences,Russia
RomanV.Meshcheryakov V.A.TrapeznikovInstituteofControlSciences,
Russia
ProgramCommittee
PaulG.Plöger HochschuleBonn-Rhein-Sieg,Germany
OlegN.Gasparyan NationalPolytechnicUniversityofArmenia,
Armenia
YuriyV.Poduraev MoscowStateTechnologicalUniversity
“STANKIN”,Russia
PeterZentay BudapestUniversityofTechnologyand
Economics,Hungary
Contents
CollaborativeRoboticSystems
AspectsofIndustrialApplicationsofCollaborativeRobots .................. 3
PeterZentay,LajosKutrovacz,MarkOttlakan,andTiborSzalay
Control System Calibration Algorithm for Exoskeleton Under
theIndividualSpecificitiesoftheOperator ................................ 18
V.G.Gradetsky, I.L.Ermolov, M.M.Knyazkov, E.A.Semenov,
andA.N.Sukhanov
InteractiveCollaborativeRobotics–NewResultsandNewProblems ......... 29
ArkadyYuschenko
DevelopmentofModelforLabourProductivityEvaluationinCollaborative
TechnologicalCells .................................................... 44
AlisaLapina,DmitriyLapin,andVladimirSerebrenny
RoboticSystemsDesignandSimulation
IncreasingtheDynamicCharacteristicsoftheAutonomousMobileRobot
byAdaptingtheFuzzyControllersoftheExecutiveLeveloftheSpecifics
ofTacticalActions ..................................................... 55
YuriA.Bykovtsev, GenadyG.Kalach, ValeryM.Lokhin,
SergeiV.Manko,andAlexanderA.Morozov
TeachingRealRobots:TheRightWaytoSetupLearning-BasedSystems
forYourRobot ........................................................ 72
AliYounesandArkadyYuschenko
EvaluationofDynamicModelsofaMobileRobot’sMovablePlatform ........ 85
EvgeniyAnatolyevichKotovandDmitriyAlexeevichDolzhenok
Low-CostIn-HandSlippageDetectionandAvoidanceforRobustRobotic
GraspingwithCompliantFingers ........................................ 98
EduardoCervantes,SvenSchneider,andPaulG.Ploeger
A Method for Realizing the Connection Between the Movements
oftheOperator’sFingersandtheModelofanAnthropomorphicGripping
Device ............................................................... 110
V.V.Ivanenkov,G.K.Tevyashov,Y.L.Smirnova,andM.A.Pavlov
viii Contents
StructureandControlAlgorithmsofManipulationRobotsOperating
Autonomously ........................................................ 121
A.G.LeskovandV.V.Illarionov
InspectionofPipelinesofComplexTopologyUsinganAdaptive,Scalable
Multi-segmentMobileRobot ............................................ 137
OlegV.Darintsev,IldarSh.Nasibullayev,andDinarR.Bogdanovv
RobotsControl
AdaptiveControlSystemforIndustrialRoboticManipulator ................. 153
A.P.Rudomanenko,N.A.Chernyadev,andS.A.Vorotnikov
Logic-Dynamic ControlofAssemblyManipulator UnderConditions
ofHigh-EnergyImpacts ................................................ 165
I.N.EgorovandV.A.Nemontov
AlgorithmsofSelf-controloftheUnderwaterWalkingDeviceAccording
toInformationonaCollisionofFeetwithanUnorganizedSupportSurface .... 177
V.V.Chernyshev,V.E.Pryanichnikov,andV.V.Arykantsev
DistributedData-SensorSystemsinWallClimbingRoboticComplexes ....... 192
GradetskyValery, KnyazkovMaxim, SemenovEugeny,
andSukhanovArtem
Adaptive System of Compensation of Motors’ Partial Degradations
ofMultirotorUAVs .................................................... 207
OlegN.GasparyanandHaykanushG.Darbinyan
AuthorIndex ......................................................... 221
Collaborative Robotic Systems