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About

Vitaly Trubin is a robotics researcher whose work focuses on the stabilization, control, and sensing of two-wheeled balancing robots—dynamically unstable systems modeled as inverted pendulums. His most impactful contribution, the 2018 paper “Application of ultrasonic sensor for measuring distances in robotics” (133 citations), addresses a fundamental challenge in robotic perception: equipping robots with reliable, low-cost alternatives to vision-based sensing. This work has become a key reference for researchers developing humanoid and mobile robots that need robust obstacle detection. Trubin’s core research program centers on the mathematical modeling and control of balancing robots. He has developed methods for linearizing nonlinear dynamics, estimating tilt angles from imperfect sensor data, and tuning regulator coefficients using numerical optimization. His 2015 paper on deflection angle stabilization (12 citations) and subsequent studies on unrevealed nonlinearities (8 citations) and tilt angle estimation (8 citations) systematically address the practical challenges of keeping an inherently unstable robot upright. Notably, his 2018 work on power consumption reduction tackles the real-world constraint of battery life in mobile robots. Across his publications, Trubin demonstrates a consistent focus on bridging theoretical control theory with practical implementation, using numerical optimization to compensate for imperfect sensors and real-world nonlinearities.