Mark Opashnianskyi

Work place: Dept. of Technical Cybernetics, Igor Sikorsky Kyiv Polytechnic Institute, Kyiv 03056, Ukraine



Research Interests: Robotics


Mark Opashnianskyi is working as an master researcher of Technical Sciences at the Department of Technical Cybernetics Igor Sikorsky Kyiv Polytechnic Institute, Kyiv, Ukraine. He received a bachelor's degree (with honors) in computer and robotic systems in 2016 at the Faculty of Information and Computing Technology of the Kiev Polytechnic Institute. He has attended various national robotics contests and achieved number of certificates.

Author Articles
Walking Mobile Robot of Arbitrary Orientation

By Mikhail Polishchuk Mark Opashnianskyi Nikita Suyazov

DOI:, Pub. Date: 8 May 2018

The article describes the device and the mathematical model of a walking mobile robot of a fundamentally new construction. The difference between this technical solution is the ability to move the robot on surfaces of arbitrary orientation in different coordinate systems: rectangular Cartesian, cylindrical and spherical. In the proposed design, the walking robot mechanism is made in the form of flexible pedipulators and allows the mobile to perform transitions on surfaces that have an arbitrary orientation at different angles to the horizon. The technique for calculating the construction parameters of the walking robot mechanism and the trajectories of the robot legs bending is given. This walking robot is designed to perform technological operations in extreme conditions.

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