A. V. Lipatov

Papers

Total Citations

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About

A. V. Lipatov is a researcher in robotics and mechanical engineering, specializing in the kinematics and control of novel mobile platforms. Their primary research focus is the mathematical modeling of omni-directional and balancing robotic systems, particularly those employing spherical wheels and omni-wheels for enhanced maneuverability. Lipatov’s major contribution lies in developing rigorous kinematic frameworks for complex locomotion systems, as demonstrated in their most-cited work, "Mathematical Modeling of the Spatial Kinematics of an Omni-platform Balancing on a Spherical Wheel" (2025). This paper provides foundational formulas for angular velocities in a three-omni-wheel configuration, enabling precise control of platforms that balance on a single spherical contact point. While their citation count is currently modest (1 citation), this work represents a significant step toward practical, agile robots capable of navigating tight spaces and uneven terrain. Lipatov’s research is particularly relevant for applications in service robotics, assistive devices, and autonomous exploration, offering a mathematical basis for future experimental validation and hardware development. Their contributions are valuable for students and engineers seeking to understand the theoretical underpinnings of non-holonomic robotic systems.