S.P. Hripunov - Dr. Sc. (Eng.), Professor, Federal Budgetary Institution «The Main Scientific Research Center of Robotics» Ministry of Defense of the Russian Federation (Moscow) I.V. Blagodaryashchev - Ph.D. (Eng.), Associate Professor, Federal Budgetary Institution «The Main Scientific Research Center of Robotics» Ministry of Defense of the Russian Federation (Moscow)