Sergei V. Gusev — 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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2024

On performing non-prehensile rolling manipulations: Stabilizing synchronous motions of Butterfly robots⋆

Maksim O. Surov, Stepan S. Pchelkin, Anton S. Shiriaev, Sergei V. Gusev, Leonid B. Freidovich

IROS 2024poster

The paper explores the challenging task of performing a non-prehensile manipulation of several balls synchronously rolling on the curved hands of Butterfly robots. Each Butterfly robot represents a standard benchmark hardware setup, comprising a DC motor rotating a butterfly-shaped frame in a vertic…

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