Petr received a B.S. from Moscow State University, followed by a Ph.D. from Cornell University. His PhD work focused on using simple conceptual models to study robustness and energy effectiveness in bipedal locomotion. Petr joined RAMlab to work on optimal gaits in legged locomotion, both in simulation and with hardware implementations.
Zaitsev, P.V., and Formalskii, A.M., 2008, "Autonomous longitudinal motion of a paraglider. Mathematical formulation, synthesis of control", Journal of Computer and Systems Sciences International, 47(5):786-794 [URL]
Zaitsev, P.V., and Formalskii, A.M., 2008, "Paraglider: Mathematical model and control", Doklady Mathematics, 77(3):472-475 [URL]
Zaytsev, P., Hasaneini, S.J., and Ruina, A., 2015, "Two steps is enough: no need to plan far ahead for walking balance", IEEE International Conference on Robotics and Automation (ICRA) [preprint]
Zaytsev, P., and Ruina, A., 2013, "Controllability and viability: a look at robustness of walking", Dynamic Walking [preprint]
Zaytsev, P., 2012, "Control concepts for walking based on point-mass 3D models", Dynamic Walking [preprint]
Zaytsev, P., 2015, "Using controllability of simple models to generate maximally robust walking-robot controllers", PhD Thesis [preprint] [URL]