Igor Skirnevskiy

National Research Tomsk State University

Papers

Total Citations

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About

Igor Skirnevskiy is a leading researcher in the field of continuum robotics, with a primary focus on developing advanced control and sensing algorithms for flexible, multi-section manipulators. His work addresses critical challenges in inverse kinematics, particularly for continuum robots used in medical and industrial applications. Skirnevskiy’s most notable contribution is the FABRIK-based inverse kinematics approach for multi-section continuum robots, which overcomes the high computational cost and singularity issues inherent in traditional Jacobian-based methods. This work, cited 13 times, has become a foundational reference for researchers seeking efficient, singularity-free control of flexible robots. He further advanced the field with a visual shape and position sensing algorithm for continuum robots, enabling accurate three-dimensional shape reconstruction essential for precise control and path planning. This contribution, with 7 citations, addresses a key bottleneck in real-world deployment. Additionally, Skirnevskiy has explored inverse kinematics for steerable concentric continuum robots, expanding the applicability of these systems to minimally invasive surgery. His research is characterized by a practical, algorithm-driven approach that bridges theoretical robotics with tangible medical and industrial solutions, making him a significant figure in the evolution of continuum robot technology.