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INTELLIGENT SPACE ROBOTICS LABORATORY

The Laboratory specializes in the design and manufacture of robots and robotic systems for industrial projects. The laboratory's competence includes mobile robotics, drones, projects related to virtual reality and tactile technologies.
The team of the lab
Head of the lab
Ivan Kalinov
PhD student
Grigory Yashin
PhD student
Yuri Sarkisov
PhD student
Alexander Petrovsky
PhD student
Research and industrial projects
Eurobot
What is Eurobot ? An amazing event gathering fun, high technology, friendship, creativity, education and passion!
Created in 1998, Eurobot is an international amateur robotics contest open to teams of young people, organised either in student projects or in independent clubs. What has to be done? To participate in the competition the team needs to design and make two autonomous robots. The robots must complete specific tasks in a minute and 30 seconds and earn maximum points. At the same time the team must solve a number of specific tasks and to complete a full cycle of development and production of the robot." For further information visit: http://www.eurobot.org/.
Swarm Drones Project
We propose a novel interaction strategy for human-swarm communication where a human operator guides a formation of quadrotors with impedance interlines and receives tactile feedback.
Decathlon
Intelligent Space Robotics Laboratory realised commercial project for Deckatlon company. Autonomous mobile platform, designed to navigate in rooms with dynamic environments. This collaborative robot can conduct stocktaking procedures using RFID marks. Great features are - aI mission planning, multiple markers available (RFID, QR, etc.), up to 400 scans per hour, automated recharging, obstacle avoidance system, beacon–enabled indoor navigation, full customization to client's infrastructure.
AeroVR
Drone application for aerial manipulation is tested in such areas as industrial maintenance, supporting the rescuers in emergencies, and e-commerce. Most of these applications require teleoperation. The operator receives visual feedback from the camera installed on a robot arm or drone. As aerial manipulation requires delicate and precise motion of robot arm, the camera data delay, narrow field of view, and blurred image caused by drone dynamics can lead the UAV to crash. This project focuses on the development of a novel teleoperation system for aerial manipulation using Virtual Reality (VR). The controlled system consists of UAV with a 4-DoF robotic arm and embedded sensors. VR application presents the digital twin of drone and remote environment to the user through a headmounted display (HMD). The operator controls the position of the robotic arm and gripper with VR trackers worn on the arm and tracking glove with vibrotactile feedback. Control data is translated directly from VR to the real robot in real-time. The experimental results showed a stable and robust teleoperation mediated by the VR scene. The proposed system can considerably improve the quality of aerial manipulations.

Current tasks: control of the UAV via VR, improvement of the manipulator teleoperation (electronics and coding).
Drone gear
One of the most serious disadvantages of the vertical takeoff and landing flying robots including multicopters is the necessity of the flat stable area for safe landing. The ability to land and takeoff from uneven surfaces and moving basements would help the rotorcrafts in many important applications. The special landing gears are used to provide rotorcrafts this ability. This project explores multicopter landing on uneven surfaces using a novel adaptive landing platform DroneGear. The DroneGear contains four compliant robotic legs of two degrees of freedom each. The innovative optical torque sensor is integrated into the knee joint of each leg to provide timely adaptation to rough terrain in an unknown environment. Additionally, inertial measurement unit is embedded into the passive footpad of each leg for estimation of relief profile in the landing zone. The results of the experiments show that the DroneGear can be successfully used for the safe hexacopter landing on the different angle slopes, plane, step surfaces, and for terrain profile estimation as well.

Current tasks: simulation of the mathematical model of the robot in Simulink and dynamic calculation (we will be glad to collaborate for writing the journal paper), improvement of the control electronics and the mechanical design.
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