Maksim Surov — accepted AI-conference papers

2026

Orbital Stabilization and Time Synchronization of Unstable Periodic Motions in Underactuated Robots

Maksim Surov, Maksim Grigorov, Sergei V. Gusev, Oleg Yu. Sumenkov

ICRA 2026poster

This paper presents a control methodology for achieving orbital stabilization with simultaneous time synchronization of periodic trajectories in underactuated robotic systems. The proposed approach extends the classical transverse linearization framework to explicitly incorporate time-desynchronizat…

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2015

Case study in non-prehensile manipulation: planning and orbital stabilization of one-directional rollings for the “Butterfly” robot

Maksim Surov, Anton Shiriaev, Leonid Freidovich, Sergei Gusev, Leonid Paramonov

ICRA 2015poster

We approach a problem of motion planning and stabilization for a benchmark example, known as the “Butterfly” robot. It was proposed as a benchmark challenge for developing systematic techniques for nonprehensile rolling manipulation. A dynamical model of the underactuated system with a non-unilatera…

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