Sergej Stepanenko
Papers
2
Total Citations
8
H-Index
2
About
Sergej Stepanenko’s research centers on the control and dynamics of complex robotic systems, with a particular focus on adaptive locomotion and redundant manipulator control. His most notable contribution is the development of an adaptive rhythmic control algorithm for a multibody snake-like robot with 25 degrees of freedom, published in 2011. This work demonstrated both simulated and real-world implementation, investigating the behavioral and energetic properties of the gait control and the dynamics of different body segments. The paper has garnered 6 citations, reflecting its foundational role in bio-inspired robotics and adaptive locomotion. Earlier, in 1998, Stepanenko addressed the challenge of robust control for redundant manipulators, proposing a general reduced order model to satisfy both primary trajectory tracking and additional motion constraints. This work, with 2 citations, contributed to the theoretical framework for constraint-based control in robotics. Stepanenko’s research bridges theoretical control theory and practical robotic applications, offering insights into energy-efficient, adaptive systems that can navigate complex environments. His work is particularly relevant for students and researchers interested in bio-inspired robotics, multi-body dynamics, and constraint-based control.
Research Focus
Key Achievements
Top Papers
- 1Adaptive Locomotion of Multibody Snake-like Robot6 citations · 2011
- 2