{"id":2257,"date":"2025-05-13T19:11:56","date_gmt":"2025-05-13T18:11:56","guid":{"rendered":"http:\/\/newskbncran.ru\/?page_id=2257"},"modified":"2026-06-05T09:08:44","modified_gmt":"2026-06-05T08:08:44","slug":"26-6-6-en","status":"publish","type":"page","link":"https:\/\/izvestiyakbncran.ru\/index.php\/en\/26-6-6-en\/","title":{"rendered":"26.6.6 en"},"content":{"rendered":"\n

Modeling algorithm to avoid collisions in robotic collaborative systems<\/strong><\/h2>\n\n\n\n

M.A. Shereuzhev, D.I. Arabadzhiev, I.V. Semyannikov<\/strong><\/strong><\/strong><\/strong><\/p>\n\n\n\n

\n

<\/p>\n\n\n\n

\n
\n
PDF<\/a><\/div>\n<\/div>\n\n\n\n
<\/div>\n\n\n\n
\n
JATS XML<\/a><\/div>\n<\/div>\n<\/div>\n\n\n\n

<\/p>\n<\/div>\n\n\n\n

\n\n\n\n

Abstract.<\/em><\/strong> <\/strong>In modern collaborative and industrial robotics, the issue of safety of human-robot interaction is one of the main problems. Due to the high mass and high-speed operating modes, a collision between the manipulator and the operator often leads to injury to a person. The aim of the work is to develop and test an algorithm to avoid collision for robots in a dynamic environment. The simulation was carried out in the Webots simulator using the virtual force method. The algorithm has shown high efficiency and reliability, maintaining a safe distance between a robot and a person. The developed system to avoid collision is suitable for industrial environments.<\/p>\n\n\n\n

Keywords:<\/em><\/strong> collision prevention, safety, collaborative robot, Webots<\/p>\n\n\n\n

For citation<\/strong>. Shereuzhev M.A., Arabadzhiev D.I., Semyannikov I.V.Modeling algorithm to avoid collisions in robotic collaborative systems. News of the Kabardino-Balkarian Scientific Center of RAS.<\/em> <\/strong>2024. Vol. 26. No. 6. Pp. 67\u201381. DOI: 10.35330\/<\/strong>1991-6639-2024-26-6-67-81<\/p>\n\n\n\n

R<\/strong>eferences<\/summary>\n
    \n
  1. Haddadin S., Croft E. Physical human-robot interaction. Handbook of Robotics. Springer. Pp. 1835\u20131874. DOI: 10.1007\/978-3-319-32552-1_69<\/li>\n\n\n\n
  2. Villani V., Pini F., Leali F., Secchi C. Survey on human-robot collaboration in industrial settings: Safety, intuitive interfaces and applications. Mechatronics. 2018. Vol. 55. Pp. 248\u2013266. DOI: 10.1016\/j.mechatronics.2018.02.009<\/li>\n\n\n\n
  3. Khatib O. Real-time obstacle avoidance for manipulators and mobile robots. The International Journal of Robotics Research. 1986. Vol. 5(1). Pp. 90\u201398. DOI: 10.1109\/ROBOT.1985.1087247<\/li>\n\n\n\n
  4. Siciliano B., Sciavicco L., Villani L., Oriolo G. Force control. Springer: London. 2009. Pp. 363\u2013405.<\/li>\n\n\n\n
  5. Rohmer E., Singh S.P.N., Freese M. V-REP: A versatile and scalable robot simulation framework. 2013 IEEE\/RSJ international conference on intelligent robots and systems. 2013. Pp. 1321\u20131326. DOI: 10.1109\/IROS.2013.6696520<\/li>\n\n\n\n
  6. Reinstein M., Hoffmann M. Dead reckoning in a dynamic quadruped robot based on multimodal proprioceptive sensory information. IEEE Transactions on Robotics. 2012. Vol. 29(2). Pp. 563\u2013571. DOI: 10.1109\/TRO.2012.2228309<\/li>\n\n\n\n
  7. Michel O., Rohrer B. Webots: professional mobile robot simulation. International Journal of Advanced Robotic Systems. 2009. Vol. 5(3). Pp. 39\u201342. DOI: 10.5772\/5618<\/li>\n\n\n\n
  8. Dellaert F., Fox D., Burgard W., Thrun S. Monte Carlo localization for mobile robots. Proceedings 1999 IEEE international conference on robotics and automation. 1999. Pp. 1322\u20131328.<\/li>\n\n\n\n
  9. Jiang Y., Yang C., Ju Z., Liu J. Obstacle avoidance of a redundant robot using virtual force field and null space projection. Intelligent Robotics and Applications: XII International Conference, ICIRA. Springer. 2019. Pp. 728\u2013739. DOI: 10.1007\/978-3-030-27526-6_64<\/li>\n\n\n\n
  10. Kim C.Y., Kim Y.H., Ra W.S. Modified 1D virtual force field approach to moving obstacle avoidance for autonomous ground vehicles. Journal of Electrical Engineering & Technology. 2019. Vol. 14. Pp. 1367\u20131374. DOI: 10.1007\/s42835-019-00127-8<\/li>\n\n\n\n
  11. Xu Q., Zhang T., Zhou K. et al. Active collision Aaoidance for robotic Aam based on artificial potential field and deep reinforcement learning. Applied Sciences. 2024. Vol. 14(11). P. 4936. DOI: 10.3390\/app14114936<\/li>\n<\/ol>\n<\/details>\n\n\n\n
    Information about the author<\/strong><\/summary>\n
    \n

    Madin A. Shereuzhev<\/strong>, Candidate of Engineering Sciences, Junior Research at the Center for
    Cognitive Technologies and Machine Vision of Moscow State University of Technology STANKIN;
    127055, Russia, Moscow, 1 Vadkovsky lane;
    Senior Teacher at the Department SM7 Robotic systems and mechatronics, Moscow State Technical
    University named after N.E. Bauman;
    105005, Russia, Moscow, 2nd Baumanskaya street 5, bld. 1;
    shereuzhev@bmstu.ru, ORCID: https:\/\/orcid.org\/0000-0003-2352-992\u0425, SPIN-code: 1734-9056;
    Denis I. Arabadzhiev<\/strong>, Engineer at the Center for Cognitive Technologies and Machine Vision of
    Moscow State University of Technology STANKIN;
    127055, Russia, Moscow, 1 Vadkovsky lane;
    Postgraduate Student at the Department SM7 Robotic systems and mechatronics, Moscow State
    Technical University named after N.E. Bauman;
    105005, Russia, Moscow, 2nd Baumanskaya street 5, bld. 1;
    denisarabadzhiev13@gmail.com, SPIN-code: 7438-1760
    Ivan V. Semyannikov<\/strong>, Engineer of Student Robotics Office of Moscow State University of
    Technology STANKIN;
    127055, Russia, Moscow, 1 Vadkovsky lane;
    Master Student at the Department SM7 Robotic systems and mechatronics, Moscow State Technical
    University named after N.E. Bauman;
    105005, Russia, Moscow, 2nd Baumanskaya street 5, bld. 1;
    semyannikoviv@student.bmstu.ru<\/p>\n\n\n\n

    <\/p>\n\n\n\n

    <\/p>\n\n\n\n

    <\/p>\n\n\n\n

    <\/p>\n<\/div>\n<\/details>\n","protected":false},"excerpt":{"rendered":"

    Modeling algorithm to avoid collisions in robotic collaborative systems M.A. Shereuzhev, D.I. Arabadzhiev, I.V. Semyannikov Abstract. In modern collaborative and industrial robotics, the issue of safety of human-robot interaction is one of the main problems. Due to the high mass and high-speed operating modes, a collision between the manipulator and the operator often leads to […]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"wp-custom-template-home","meta":{"footnotes":""},"class_list":["post-2257","page","type-page","status-publish","hentry"],"yoast_head":"\n26.6.6 en - \u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/izvestiyakbncran.ru\/index.php\/en\/26-6-6-en\/\" \/>\n<meta property=\"og:locale\" content=\"ru_RU\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"26.6.6 en - \u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb\" \/>\n<meta property=\"og:description\" content=\"Modeling algorithm to avoid collisions in robotic collaborative systems M.A. Shereuzhev, D.I. Arabadzhiev, I.V. Semyannikov Abstract. In modern collaborative and industrial robotics, the issue of safety of human-robot interaction is one of the main problems. Due to the high mass and high-speed operating modes, a collision between the manipulator and the operator often leads to […]\" \/>\n<meta property=\"og:url\" content=\"https:\/\/izvestiyakbncran.ru\/index.php\/en\/26-6-6-en\/\" \/>\n<meta property=\"og:site_name\" content=\"\u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb\" \/>\n<meta property=\"article:modified_time\" content=\"2026-06-05T08:08:44+00:00\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u041f\u0440\u0438\u043c\u0435\u0440\u043d\u043e\u0435 \u0432\u0440\u0435\u043c\u044f \u0434\u043b\u044f \u0447\u0442\u0435\u043d\u0438\u044f\" \/>\n\t<meta name=\"twitter:data1\" content=\"4 \u043c\u0438\u043d\u0443\u0442\u044b\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\\\/\\\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/index.php\\\/en\\\/26-6-6-en\\\/\",\"url\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/index.php\\\/en\\\/26-6-6-en\\\/\",\"name\":\"26.6.6 en - \u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb\",\"isPartOf\":{\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/#website\"},\"datePublished\":\"2025-05-13T18:11:56+00:00\",\"dateModified\":\"2026-06-05T08:08:44+00:00\",\"breadcrumb\":{\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/index.php\\\/en\\\/26-6-6-en\\\/#breadcrumb\"},\"inLanguage\":\"ru-RU\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\\\/\\\/izvestiyakbncran.ru\\\/index.php\\\/en\\\/26-6-6-en\\\/\"]}]},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/index.php\\\/en\\\/26-6-6-en\\\/#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"\u0413\u043b\u0430\u0432\u043d\u0430\u044f \u0441\u0442\u0440\u0430\u043d\u0438\u0446\u0430\",\"item\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"26.6.6 en\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/#website\",\"url\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/\",\"name\":\"\u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb\",\"description\":\"\u041d\u0430\u0443\u0447\u043d\u044b\u0439 \u0436\u0443\u0440\u043d\u0430\u043b\",\"publisher\":{\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/#organization\"},\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/?s={search_term_string}\"},\"query-input\":{\"@type\":\"PropertyValueSpecification\",\"valueRequired\":true,\"valueName\":\"search_term_string\"}}],\"inLanguage\":\"ru-RU\"},{\"@type\":\"Organization\",\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/#organization\",\"name\":\"\u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb\",\"url\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/\",\"logo\":{\"@type\":\"ImageObject\",\"inLanguage\":\"ru-RU\",\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/#\\\/schema\\\/logo\\\/image\\\/\",\"url\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/wp-content\\\/uploads\\\/2025\\\/07\\\/oblozhka-zhurnala-na-angl-scaled.jpg\",\"contentUrl\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/wp-content\\\/uploads\\\/2025\\\/07\\\/oblozhka-zhurnala-na-angl-scaled.jpg\",\"width\":1828,\"height\":2560,\"caption\":\"\u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb\"},\"image\":{\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/#\\\/schema\\\/logo\\\/image\\\/\"}}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"26.6.6 en - \u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/izvestiyakbncran.ru\/index.php\/en\/26-6-6-en\/","og_locale":"ru_RU","og_type":"article","og_title":"26.6.6 en - \u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb","og_description":"Modeling algorithm to avoid collisions in robotic collaborative systems M.A. Shereuzhev, D.I. Arabadzhiev, I.V. Semyannikov Abstract. In modern collaborative and industrial robotics, the issue of safety of human-robot interaction is one of the main problems. Due to the high mass and high-speed operating modes, a collision between the manipulator and the operator often leads to […]","og_url":"https:\/\/izvestiyakbncran.ru\/index.php\/en\/26-6-6-en\/","og_site_name":"\u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb","article_modified_time":"2026-06-05T08:08:44+00:00","twitter_card":"summary_large_image","twitter_misc":{"\u041f\u0440\u0438\u043c\u0435\u0440\u043d\u043e\u0435 \u0432\u0440\u0435\u043c\u044f \u0434\u043b\u044f \u0447\u0442\u0435\u043d\u0438\u044f":"4 \u043c\u0438\u043d\u0443\u0442\u044b"},"schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"WebPage","@id":"https:\/\/izvestiyakbncran.ru\/index.php\/en\/26-6-6-en\/","url":"https:\/\/izvestiyakbncran.ru\/index.php\/en\/26-6-6-en\/","name":"26.6.6 en - \u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb","isPartOf":{"@id":"https:\/\/izvestiyakbncran.ru\/#website"},"datePublished":"2025-05-13T18:11:56+00:00","dateModified":"2026-06-05T08:08:44+00:00","breadcrumb":{"@id":"https:\/\/izvestiyakbncran.ru\/index.php\/en\/26-6-6-en\/#breadcrumb"},"inLanguage":"ru-RU","potentialAction":[{"@type":"ReadAction","target":["https:\/\/izvestiyakbncran.ru\/index.php\/en\/26-6-6-en\/"]}]},{"@type":"BreadcrumbList","@id":"https:\/\/izvestiyakbncran.ru\/index.php\/en\/26-6-6-en\/#breadcrumb","itemListElement":[{"@type":"ListItem","position":1,"name":"\u0413\u043b\u0430\u0432\u043d\u0430\u044f \u0441\u0442\u0440\u0430\u043d\u0438\u0446\u0430","item":"https:\/\/izvestiyakbncran.ru\/"},{"@type":"ListItem","position":2,"name":"26.6.6 en"}]},{"@type":"WebSite","@id":"https:\/\/izvestiyakbncran.ru\/#website","url":"https:\/\/izvestiyakbncran.ru\/","name":"\u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb","description":"\u041d\u0430\u0443\u0447\u043d\u044b\u0439 \u0436\u0443\u0440\u043d\u0430\u043b","publisher":{"@id":"https:\/\/izvestiyakbncran.ru\/#organization"},"potentialAction":[{"@type":"SearchAction","target":{"@type":"EntryPoint","urlTemplate":"https:\/\/izvestiyakbncran.ru\/?s={search_term_string}"},"query-input":{"@type":"PropertyValueSpecification","valueRequired":true,"valueName":"search_term_string"}}],"inLanguage":"ru-RU"},{"@type":"Organization","@id":"https:\/\/izvestiyakbncran.ru\/#organization","name":"\u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb","url":"https:\/\/izvestiyakbncran.ru\/","logo":{"@type":"ImageObject","inLanguage":"ru-RU","@id":"https:\/\/izvestiyakbncran.ru\/#\/schema\/logo\/image\/","url":"https:\/\/izvestiyakbncran.ru\/wp-content\/uploads\/2025\/07\/oblozhka-zhurnala-na-angl-scaled.jpg","contentUrl":"https:\/\/izvestiyakbncran.ru\/wp-content\/uploads\/2025\/07\/oblozhka-zhurnala-na-angl-scaled.jpg","width":1828,"height":2560,"caption":"\u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb"},"image":{"@id":"https:\/\/izvestiyakbncran.ru\/#\/schema\/logo\/image\/"}}]}},"_links":{"self":[{"href":"https:\/\/izvestiyakbncran.ru\/index.php\/wp-json\/wp\/v2\/pages\/2257","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/izvestiyakbncran.ru\/index.php\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/izvestiyakbncran.ru\/index.php\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/izvestiyakbncran.ru\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/izvestiyakbncran.ru\/index.php\/wp-json\/wp\/v2\/comments?post=2257"}],"version-history":[{"count":6,"href":"https:\/\/izvestiyakbncran.ru\/index.php\/wp-json\/wp\/v2\/pages\/2257\/revisions"}],"predecessor-version":[{"id":14397,"href":"https:\/\/izvestiyakbncran.ru\/index.php\/wp-json\/wp\/v2\/pages\/2257\/revisions\/14397"}],"wp:attachment":[{"href":"https:\/\/izvestiyakbncran.ru\/index.php\/wp-json\/wp\/v2\/media?parent=2257"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}