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Mechatronic systems and robotics

A mechatronic system is a mechanical system controlled by a computer. We think that the first mechatronic system created in the USSR in the 1950s was the ballistic missile with an onboard computer and a system of inertial navigation. The theory of inertial ballistic missiles control was developed by A.Ju. Ishlinsky.

Since 1970s the Institute of Mechanics of the Moscow State University and DAMC study robots with elements of artificial intellect (D.E.Ohotsimsky, E.A.Devjanin). These studies are done in close contact with the Department of Theoretical Mechanics and the M.V.Keldysh Institute of Applied Mathematics.

An integrated robotics system - an operating laboratory six-legged walking machine was created, with its control realized at first with analog computers, then with hybrid computers and at last with PCs. This was the first such robot in the USSR and one of the first in the world. The main outcome of the research was development of principles and means of control for such machines, providing means to create walking robots with special purposes (E.A.Devjanin, A.V.Lensky, L.G.Shtilman, V.M.Budanov, D.N.Zhiharev, E.V.Gurfinkel).

For detailed research and modeling of walking and running, the theory and mechanical models of biped machines were created. These results can be applied both to robotics and biomechanics of man and animals (A.M.Formalsky, A.V.Lensky, E.K.Lavrovsky, E.A.Devjanin, A.A.Grishin, I.V.Novozhilov, Yu.V.Bolotin, D.G.Aliev).

The control theory of manipulators using the information on efforts was constructed. Such systems can be applied to assembling fragile details. Control of manipulators interacting with the environment uses information on deformations and the pressure arising in the links of the manipulator (A.M.Formalsky, D.M.Gorinevsky, A.JU.Schneider). Algorithms of efforts distribution based on the principles of duality of convex variational problems were suggested (Yu.V. Bolotin).

Students and post-graduates of DAMC form teams that since 1995 participate in competitions of robots in France and Russia within the International Festival "Sciences and Technologies ". For these competitions autonomous wheeled mobile robots are constructed. The teams have won many prizes. Construction of robots and preparation of youth teams was supervised by E.V.Gurfinkel, E.A.Devjanin, V.M.Budanov, A.A.Golovan, A.A.Grishin, D.I.Zhiharev, A.V. Lensky.

At the Institute of Mechanics of the Moscow State University with direct participation of post-graduates and students of DAMC two bicycles with angular gyroscopic stabilization were designed and constructed. A control law enabling such robot to move along a set path containing rectilinear and curvilinear sites was developed (A.V.Lensky, A.M.Formalsky, E.V.Gurfinkel).

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