This book features selected papers presented at the 16th International Conference on Electromechanics and Robotics 'Zavalishin's Readings' - ER(ZR) 2021, held in St. Petersburg, Russia, on April 14-17, 2021. The contributions, written by professionals, researchers and students, cover topics in the field of automatic control systems, electromechanics, electric power engineering and electrical engineering, mechatronics, robotics, automation and vibration technologies. The Zavalishin's Readings conference was established as a tribute to the memory of Dmitry Aleksandrovich Zavalishin (1900-1968) - a Russian scientist, corresponding member of the USSR Academy of Sciences, and founder of the school of valve energy converters based on electric machines and valve converters energy. The first conference was organized by the Institute of Innovative Technologies in Electromechanics and Robotics at the Saint Petersburg State University of Aerospace Instrumentation in 2006. The 2021 conference was held with XV International Conference "Vibration-2021. Vibration technologies, mechatronics and controlled machines" and VI International Conference "Electric drive, electrical technology and electrical equipment of enterprises", and was organized by St. Petersburg State University of Aerospace Instrumentation (SUAI), St. Petersburg Federal Research Center of the Russian Academy of Sciences (SPC RAS), Southwest State University (SWSU) and Ufa State Oil Technical University (USPTU).

Part 1: Robotics and Automation.- Chapter 1. Analysis of Mechanisms with Parallel-Serial Structure 5-DOF and Extended Working Area.- Chapter 2. Studying of Copying Control System with Nonlinear Measurer.- Chapter 3. Determination of Special Positions for Solving the Problem of Joint Relative Manipulation Mechanisms Kinematic Control.- Chapter 4. Kinematic Modeling in Study of Manipulative Mechanism of Combined Movement.- Chapter 5. Simulation of Static Walking in an Exoskeleton.- Chapter 6. Algorithm for Controlling Manipulator with Combined Array of Pressure and Proximity Sensors in Gripper.- Chapter 7. Simulation of Underwater Robot Autonomous Motion along Predetermined Straight Path.- Chapter 8. In-Pipe Modular Robot: Configuration, Displacement Principles, Standard Patterns and Modeling.- Chapter 9. Multi-criteria Optimization of the Mobile Robot Group Strategy Using the Ant Algorithm.- Chapter 10. Analysis of the Allocation and Implementation of Tasks in the Heterogeneous Team ofthe Collaborative Robotic System.- Chapter 11. Algorithm of Target Point Assignment for Robot Path Planning Based on Costmap Data.- Chapter 12. Feasibility of Synthesized Optimal Control Approach on a Model of Robotic System with Uncertainties.- Chapter 13. Algorithm for Calculating Coordinates of Repeaters for Combining Stationary and Mobile Devices into Common Cyber-Physical System.- Chapter 14. Simulation of Trainable Control System for Quadruped Robot.- Chapter 15. Hardware/Software Architecture for Research of Control Algorithms of a Quadcopter in the Presence of External Wind Loads.