Personal Information
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Educational degrees
Undergraduate study
B.Sc. degree, 1978: Department for Automation at the Faculty of mechanical engineering, University of Belgrade, Serbia, Supervisor: Prof. Dr. Ljubomir Grujić.
Graduate study
- M.Sc. degree, 1998: Thesis: "Analysis of dynamic accuracy of manipulation robots", School of Electrical Engineering, University of Belgrade. Supervisor: academician Miomir Vukobratović.
- Ph.D. degree, 2007: Thesis: "Contribution to modeling of flexibility of active mechanisms with special emphasis on humanoid robots", School of Electrical Engineering, University of Belgrade, Serbia. Supervisor: Prof. Dr. Veljko Potkonjak.
Professional Experience
- 1979. - 1991. On the 1979. started working at the Institute "Mihajlo Pupin", Belgrade, Serbia, and still works there. Up to 1991. her major concern were engineering assignments and projects for the "Center for Pneumatics", IMP, managed by Vladimir Kokotović, M Sc. Worked on: investigation, development, design, realization and start up of: control regulation electro-pneumatic systems for drinking water purification for Chemical, Food and Pharmaceutical Industries, "pneumatic forwarding system" and development of components for above pneumatic forwarding equipment. She realized a series of Technical Solutions and participated in projects of relevance in this area.
- 1991. - present.
The tasks in the field of Robotics became her field of interest. In the field of scientific research the main results can be mentioned. She defined:
- a joint in a new way, depending in the motor state (active or locked) and type of elastic or rigid element (gear and/or link) that follows behind the motor.
- a connection of the Euler-Bernoulli equation and equation of motion at any point of elastic line of considered elastic beam.
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expansion of the Euler-Bernoulli equation from several aspects:
- elastic deformation is a consequence of the overall movement dynamics of the robotic system,
- general form of the transversal elastic deformation is defined by superimposing particular solutions of oscillatory character (solution of Daniel Bernoulli) and stationary solution of the forced character (which is a consequence of the forces involved),
- Euler-Bernoulli equation (based on the known laws of dynamics) should be supplemented with all the forces that are participating in the formation of the bending moment of the considered mode, what causes the difference in the structure of these equations for each mode,
- general form of the elastic line is a direct outcome of the dynamics of system motion and cannot be represented by one scalar equation but three equations are needed to define the position and three equations to define the orientation of each point on the elastic line,
- damping is an omnipresent elasticity characteristic of real systems, so that it is naturally included in the Euler-Bernoulli equation,
- Structure of the stiffness matrix must also have the elements outside the diagonal, because of the existence of strong coupling between the elasticity forces involved.
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new structure of the mathematical models of actuators: With elastic robotic systems, the motor torque is opposed by the elasticity moment of the first elastic element coming directly after the motor. If it is a flexible link, then the motor torque is opposed by the bending moment of the first flexible mode that comes after the motor, and also, in part, by the bending moments of the other flexible modes that are connected sequentially after the first mode. Depending on their position, all modes of the first link, coming after the motor, influence the motor motion dynamics. Mathematical model of the motor is related to the rest of the mechanism via an equivalent flexibility moment. However, if an elastic gear comes directly after the motor, then the motor torque is opposed by the gear deflection moment.
The new structure of stiffness matrix and mathematical model of the motor are a consequence of the coupling between the present modes of particular links. - existence of dynamic coupling between the biped and the movement platform in the course of robotic task realization.
- procedure for creating the reference trajectory which did encompass or did not encompass the magnitude of elastic deformation and effects of coupling between the biped and the movement platform.
- procedure for modeling elasticity in the contact of foot sole.
- a general form of mathematical model of the robot system (can be a humanoid locomotion system with rigid and (or) elasticity gears) walking on any platform configuration, immobile or mobile (with rigid and (or) elasticity gears).
- and realized the software package FLEXI which is based on universal form of robotic systems. In this software she defined the algorithm for forming the mathematical model of a complex humanoid robotic system biped that walks on an immobile/mobile platform of any configuration with rigid and (or) flexible elements of gear.
Primary Interest of Research
General fields
- Mathematics
- Mechanics
- Control
- Programming
Speciality fields
Robotics, Theory of oscillations, Theory of flexibility, Flexibility of links, Flexibility of gears, Theory of non-linear systems, Humanoid Robots, Humanoid Robots sistems with and without elasticity elements, Humanoid Robot sistem walking on an immobile or mobile platform (with or without elasticity elements), Implementation of elasticity in foot sole of humanoids, Implementation of coupling betwen biped and platform, Planing of reference trajectory, Modeling, Software, Analysis, Simulations.