• A
  • A
  • A
  • АБВ
  • АБВ
  • АБВ
  • A
  • A
  • A
  • A
  • A
Обычная версия сайта
  • RU
  • EN
  • HSE University
  • Publications
  • Articles
  • Feed-forward Controller Using DeNOC Methodology for a Wheeled Humanoid Robot
  • RU
  • EN
Расширенный поиск
Высшая школа экономики
Национальный исследовательский университет
Priority areas
  • business informatics
  • economics
  • engineering science
  • humanitarian
  • IT and mathematics
  • law
  • management
  • mathematics
  • sociology
  • state and public administration
by year
  • 2028
  • 2027
  • 2026
  • 2025
  • 2024
  • 2023
  • 2022
  • 2021
  • 2020
  • 2019
  • 2018
  • 2017
  • 2016
  • 2015
  • 2014
  • 2013
  • 2012
  • 2011
  • 2010
  • 2009
  • 2008
  • 2007
  • 2006
  • 2005
  • 2004
  • 2003
  • 2002
  • 2001
  • 2000
  • 1999
  • 1998
  • 1997
  • 1996
  • 1995
  • 1994
  • 1993
  • 1992
  • 1991
  • 1990
  • 1989
  • 1988
  • 1987
  • 1986
  • 1985
  • 1984
  • 1983
  • 1982
  • 1981
  • 1980
  • 1979
  • 1978
  • 1977
  • 1976
  • 1975
  • 1974
  • 1973
  • 1972
  • 1971
  • 1970
  • 1969
  • 1968
  • 1967
  • 1966
  • 1965
  • 1964
  • 1963
  • 1958
  • More
Subject
News
September 22, 2026
Personal Interest in Doctoral Thesis Topic Most Important for Confidence in Successful Defence
A researcher at HSE University analysed data on 1,539 doctoral students from 161 Russian universities to identify which features of a thesis topic are associated with academic success and engagement. The most important factor was found to be personal interest in the research topic, which was associated with almost all key aspects of doctoral programme experience—from engaging with the academic supervisor to research activity and confidence about successfully defending the thesis. The findings have been published in Higher Education.
September 21, 2026
Researchers Develop Methodology to Assess the Quality of Legal Representation in Criminal Proceedings
Having a good defence attorney in criminal proceedings can largely determine whether a defendant retains their freedom, health and good name. Researchers at HSE University propose a method for predicting an attorney’s performance based on the outcomes of their previous cases. The methodology takes into account the severity of the charges, the complexity of the cases, and the most likely outcome, drawing on judicial statistics.
September 21, 2026
Algebra, Geometry, and AI: Russian and Vietnamese Mathematicians Discuss Current Research
A delegation of scientists from Hanoi visited the HSE Faculty of Computer Science and then took part in a Russian-Vietnamese conference in St Petersburg. The events were part of the three-year project ‘Flexibility and Computational Methods.’ Over the course of the project, the researchers have prepared joint publications and obtained new mathematical results.

 

Have you spotted a typo?
Highlight it, click Ctrl+Enter and send us a message. Thank you for your help!

Publications
  • Books
  • Articles
  • Chapters of books
  • Working papers
  • Report a publication
  • Research at HSE

?

Feed-forward Controller Using DeNOC Methodology for a Wheeled Humanoid Robot

Lobachevskii Journal of Mathematics. 2024. Vol. 45. No. 4. P. 1748–1761.
Sulaiman S., Sudheer A. P., Magid E.

Most standard controllers for high degrees of freedom (dof) robots are prone to consume large quantity of energy and computational time. Humanoid high dof robots are mostly controlled using model-based controllers due to their better accuracy relatively to other controllers. This paper presents a model-based feed-forward control strategy incorporating a Decoupled Natural Orthogonal Complement (DeNOC) methodology for a wheeled humanoid robot. For a 15 dof humanoid robot with a wheeled base, performance of the proposed feed-forward controller was compared with a traditional feed-forward controller. A steady state error, settling time and energy consumption during a task performance were compared to determine an efficiency of the proposed controller. A simulation study and an experimental validation were used to evaluate results of the performance analysis.

Research target: Mechanics and Mechanical Engineering Computer Science Mathematics
Language: English
DOI
Text on another site
Keywords: 28.17.31 Моделирование процессов управленияSimulation studywheeled humanoid robotexperimental validationDeNOCfeed-forward controllerNewton–Euler methodантропоморфный робот
Similar publications
Risk Assessment Models for Heated Tobacco Products
Maddalena L., Yildiz B., Del Vecchio Blanco F. et al., Risk Analysis 2026 Vol. 46 No. 4 P. 1–26
Heated tobacco products (HTPs) are marketed as alternatives to conventional cigarettes with a potential reduced risk profile. Yet, their actual impact on cancer and noncancer disease risk remains uncertain and requires rigorous quantitative assessment. In this study, we develop a unified and transparent computational framework for toxicological risk assessment of HTPs, integrating chemical emissions data ...
Added: September 22, 2026
Обобщение пространства Фока
Дильмухаметова Алия Мидхатовна, Напалков В. В., Муллабаева А. У., Уфимский математический журнал 2010 Т. 2 № 1 С. 52–58
В данной статье введены обобщённые пространства Фока и рассмотрены основные свойства этих пространств. Найдена операция, сопряженная к операции умножения на переменную в обобщенном пространстве Фока. Также определены собственные функции сопряженного оператора. Изучены обобщенное преобразование Лапласа и задача построения базиса для введенных пространств. ...
Added: September 21, 2026
Segmentation of the Iris and Pupil of the Human Eye in Images from an Infrared Camera
Aleksei Samarin, Alexander Savelev, Aleksei Toropov et al., Pattern Recognition and Image Analysis 2024 Vol. 34 No. 3 P. 855–862
Tasks related to the automation of medical data processing are becoming more urgent. Particular attention is paid to systems for monitoring and analyzing human physiological parameters. Such systems often use specialized sensors to capture biomedical images, such as infrared cameras. This article describes our study of the problem of segmenting the eye pupil and iris ...
Added: September 21, 2026
A Model Based on Universal Filters for Image Color Correction
Aleksei Samarin, Nazarenko A., Alexander Savelev et al., Pattern Recognition and Image Analysis 2024 Vol. 34 No. 3 P. 844–854
Improving image quality is becoming an increasingly popular task, especially when working with mobile devices. One common approach to image enhancement is the use of convolutional neural networks. However, to achieve good results, such networks must be large enough, otherwise there is a risk of unwanted artifacts. In addition, large convolutional neural networks require significant ...
Added: September 21, 2026
Streptococci Recognition in Microscope Images Using Taxonomy-based Visual Features
Aleksei Samarin, Alexander Savelev, Aleksei Toropov et al., Optical Memory and Neural Networks (Information Optics) 2024 Vol. 33 P. 424–434
This study explores the development of classifiers for microbial images, specifically focusing on streptococci captured via microscopy of live samples. Our approach uses AutoML-based techniques and automates the creation and analysis of feature spaces to produce optimal descriptors for classifying these microscopic images. This technique leverages interpretable taxonomic features based on the external geometric attributes ...
Added: September 21, 2026
Specialized Image Descriptors Adaptation for Polyp Recognition over Endoscopic Images
Aleksei Samarin, Aleksei Toropov, Alexander Savelev et al., Pattern Recognition and Image Analysis 2024 Vol. 34 No. 4 P. 1053–1060
This paper presents a novel approach to classification in biomedical imaging, specifically targeting polyp recognition in video endoscopy snapshots. Our method leverages specialized image descriptors to enhance the accuracy and robustness of polyp recognition. By employing these specialized descriptors, we address the challenges inherent in analyzing biomedical images from open datasets. Our approach not only ...
Added: September 21, 2026
Lightweight Image Preprocessing Model for Improving Microorganism Detection in Microscopic Scenes
Самарин А. В., Торопов А. Г., Савельев А. Г. et al., Pattern Recognition and Image Analysis 2024 Vol. 34 No. 4 P. 1044–1052
This paper presents a study aimed at improving the detection quality of small-sized microorganisms under challenging microscopic conditions through the application of a lightweight combined image preprocessing model. We focused on the task of detecting diplococci in images obtained through dynamic sample microscopy. The proposed approach employs predefined filters for image preprocessing, combined with the ...
Added: September 21, 2026
Advancements in Signal, Image and Video Processing
Singapore: Springer Singapore, 2025.
Added: September 21, 2026
Interpretable Lazy Classification with Interval Pattern Structures and Local Interval Explanations
Tomat A., Sergei O. Kuznetsov, International Journal of Approximate Reasoning 2026 Vol. 197 Article 109754
Interval Pattern Structures (IPS) provide a natural way to represent local, human-readable explanations for predictions on numerical data through vectors of intervals interpreted as axis-parallel hyper-rectangles. In this paper, we develop and evaluate an IPS-based k-nearest neighbors classifier, IPS-KNN, that explains each prediction through a single local interval description rather than through the aggregation of ...
Added: September 21, 2026
IDAP++: Advancing Divergence-Based Pruning via Filter-Level and Layer-Level Optimization
Aleksei Samarin, Nazarenko A., Kotenko E. et al., / Series arXiv "math". 2025. No. 2511.20141.
This paper presents a novel approach to neural network compression that addresses redundancy at both the filter and architectural levels through a unified framework grounded in information flow analysis. Building on the concept of tensor flow divergence, which quantifies how information is transformed across network layers, we develop a two-stage optimization process. The first stage ...
Added: September 21, 2026
Об одном классе дифференциальных уравнений с переменными коэффициентами
Дильмухаметова Алия Мидхатовна, Напалков В. В., «Doklady Mathematics» 2009 Т. 424 № 5 С. 591–593
В данной статье вводится определенный класс дифференциальных уравнений с переменными коэффициентами, который тесно связан с операцией умножения Адамара и операторами Данкла имеющими применение в математической физике. Показано, что уравнения этого класса могут быть сведены к уранвениям в обобщенных производных с постоянными коэффициентами. ...
Added: September 21, 2026
Modernized Nonlocal Blocks for Infrared Camera Image Segmentation of the Human Eye
Aleksei Samarin, Alexander Savelev, Aleksei Toropov et al., Pattern Recognition and Image Analysis 2025 Vol. 35 No. 2 P. 169–178
This study explores the incorporation of specialized self-attention mechanisms into deep learning architectures, with a particular emphasis on segmenting human iris and pupil regions in infrared images. In this work, we present some modified versions of nonlocal blocks designed to enhance self-attentive properties while addressing the distinct characteristics of infrared imaging data. By applying these customized ...
Added: September 21, 2026
Application Layer Protocol for a Heterogeneous Group of Mobile Robots in Search and Rescue Scenarios
Magid E., Lobachevskii Journal of Mathematics 2025 Vol. 46 No. 4 P. 1879–1891
Search and rescue (SaR) robotics is a fast-growing domain of academic research and field applications. Robots are widely used in various tasks before, during and after a disaster outbreak. SaR missions require fast hardware deployment, should rely on robust systems and tend employing groups of collaborating robots, which increase overall system performance and reliability. Heterogeneous ...
Added: November 25, 2025
Стресс-тестирование нефинансовых организаций: подход к обратной задаче на основе аналитического решения
Богомолов А. С., Dvoryashina M. M., Дранко О. И. et al., Проблемы управления 2021 № 6 С. 15–29
This paper considers an approach to stress testing of nonfinancial organizations. It includes the problem statement and a methodology for solving the reverse problem. The mathematical model is based on open-source data (the financial statements of companies). The relevance of this approach is increasing due to different-nature crises (economic crisis, the COVID-19 pandemic, etc.). The ...
Added: March 19, 2024
Проблемы анализа и моделирования региональных социально-экономических процессов. Материалы докладов V международной научно-практической конференции
Каз.: Издательство Казанcкого государственного университета, 2014.
В сборнике представлены доклады ученых, преподавателей и специалистов, посвященные проблеме анализа региональных социально-экономических процессов ...
Added: January 25, 2017
  • About
  • About
  • Key Figures & Facts
  • Sustainability at HSE University
  • Faculties & Departments
  • International Partnerships
  • Faculty & Staff
  • HSE Buildings
  • HSE University for Persons with Disabilities
  • Public Enquiries
  • Studies
  • Admissions
  • Programme Catalogue
  • Undergraduate
  • Graduate
  • Exchange Programmes
  • Summer University
  • Summer Schools
  • Semester in Moscow
  • Business Internship
  • Research
  • International Laboratories
  • Research Centres
  • Research Projects
  • Monitoring Studies
  • Conferences & Seminars
  • Academic Jobs
  • Yasin (April) International Academic Conference on Economic and Social Development
  • Media & Resources
  • Publications by staff
  • HSE Journals
  • Publishing House
  • iq.hse.ru: commentary by HSE experts
  • Library
  • Economic & Social Data Archive
  • Video
  • HSE Repository of Socio-Economic Information
  • HSE1993–2026
  • Contacts
  • Copyright
  • Privacy Policy
  • Site Map
Edit