E. S. Semenyakina

Papers

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About

E. S. Semenyakina’s research focuses on advanced mathematical modeling in robotics and mechatronics, with a particular emphasis on the kinematics and control of novel mobile platforms. Her most notable contribution is the development of a comprehensive mathematical framework for modeling the spatial kinematics of an omni-platform that balances on a spherical wheel. In this work, she analyzes a design featuring three omni-wheels symmetrically arranged on a circle, deriving precise formulas for the angular velocities required for stable and controlled motion. This contribution addresses fundamental challenges in non-holonomic system dynamics and offers a theoretical foundation for next-generation omnidirectional robots. While her work is recent, with her top-cited paper from 2025 already garnering attention, it represents a significant step forward in the design of highly maneuverable, self-balancing platforms. Semenyakina’s research is particularly relevant for students and engineers interested in the intersection of kinematics, control theory, and innovative robotic locomotion, promising practical applications in autonomous navigation and mobile robotics.