Dimitar Dimitrov

Not published

Efficient resolution of potentially conflicting linear constraints in robotics
  • Dimitar Dimitrov, Alexander Sherikov, Pierre-Brice Wieber

  • download: manuscript


Geometric and numerical aspects of redundancy

  • Pierre-Brice Wieber, Adrien Escande, Dimitar Dimitrov, Alexander Sherikov

  • Geometric and Numerical Foundations of Movements, Springer-Verlag

  • download: preprint, BibTeX

Safe navigation strategies for a biped robot walking in a crowd

A newton method with always feasible iterates for nonlinear model predictive control of walking in a multi-contact situation

  • Diana Serra, Camille Brasseur, Alexander Sherikov, Dimitar Dimitrov, Pierre-Brice Wieber

  • Humanoids, pp. 932–937

  • download: preprint, video, BibTeX

A hierarchical approach to minimum-time control of industrial robots

  • Saed Al Homsi, Alexander Sherikov, Dimitar Dimitrov, Pierre-Brice Wieber

  • ICRA, pp. 2368–2374

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Autonomous transport vehicles: where we are and what is missing

  • Henrik Andreasson, Abdelbaki Bouguerra, Marcello Cirillo, Dimitar Dimitrov, Dimiter Driankov, Lars Karlsson, et al.

  • IEEE Robotics and Automation Magazine (IEEE-RAM), 22(1), pp. 64–75

  • download: paper, BibTeX

Model predictive motion control based on generalized dynamical movement primitives

  • Robert Krug, Dimitar Dimitrov

  • Journal of Intelligent & Robotic Systems (JINT), 77(1), pp. 17–35

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Balancing a humanoid robot with a prioritized contact force distribution

A robust linear MPC approach to online generation of 3D biped walking motion

  • Camille Brasseur, Alexander Sherikov, Cyrille Collette, Dimitar Dimitrov, Pierre-Brice Wieber

  • Humanoids, pp. 595–601

  • download: preprint, video, BibTeX


Efficiently combining task and motion planning using geometric constraints

  • Fabien Lagriffoul, Dimitar Dimitrov, Julien Bidot, Alessandro Saffiotti, Lars Karlsson

  • The International Journal of Robotics Research (IJRR), 33(14), pp. 1726–1747

  • download: preprint, BibTeX

Whole body motion controller with long-term balance constraints

Multi-objective control of robots

  • Dimitar Dimitrov, Pierre-Brice Wieber, Adrien Escande

  • Journal of the Robotics Society of Japan (JRSJ), 32(6), pp. 512–518

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Representing movement primitives as implicit dynamical systems learned from multiple demonstrations

  • Robert Krug, Dimitar Dimitrov

  • ICAR, pp. 1–8

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  • finalist for best paper award


Constraint propagation on interval bounds for dealing with geometric backtracking

  • Fabien Lagriffoul, Dimitar Dimitrov, Alessandro Saffiotti, Lars Karlsson

  • IROS, pp. 957–964

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On mission-dependent coordination of multiple vehicles under spatial and temporal constraints

  • Federico Pecora, Marcello Cirillo, Dimitar Dimitrov

  • IROS, pp. 5262–5269

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Independent contact regions based on a patch contact model

  • Krzysztof Charusta, Robert Krug, Dimitar Dimitrov, Boyko Iliev

  • ICRA, pp. 4162–4169

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Generation of independent contact regions on objects reconstructed from noisy real-world range data

  • Krzysztof Charusta, Robert Krug, Todor Stoyanov, Dimitar Dimitrov, Boyko Iliev

  • ICRA, pp. 1338–1344

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Mapping between different kinematic structures without absolute positioning during operation

  • Erik Berglund, Boyko Iliev, Rainer Palm, Robert Krug, Krzysztof Charusta, Dimitar Dimitrov

  • Electronics Letters, 48 (18), pp. 1110–1112

  • download: paper, BibTeX

  • a preliminary version appeared in the Workshop on Autonomous Grasping at ICRA 2011


A sparse model predictive control formulation for walking motion generation

Prioritized independent contact regions for form closure grasps

  • Robert Krug, Dimitar Dimitrov, Krzysztof Charusta, Boyko Iliev

  • IROS, pp. 1797–1803

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Walking motion generation with online foot position adaptation based on ell_1- and ell_infty-norm penalty formulations


Online walking motion generation with automatic foot step placement

  • Andrei Herdt, Holger Diedam, Pierre-Brice Wieber, Dimitar Dimitrov, Katja Mombaur, Moritz Diehl

  • Advanced Robotics, 24 (5-6), pp. 719–737

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On the efficient computation of independent contact regions for force closure grasps

  • Robert Krug, Dimitar Dimitrov, Krzysztof Charusta, Boyko Iliev

  • IROS, pp. 586–591

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An optimized linear model predictive control solver


An optimized linear model predictive control solver for online walking motion generation

  • Dimitar Dimitrov, Pierre-Brice Wieber, Olivier Stasse, Hans Joachim Ferreau, Holger Diedam

  • ICRA, pp. 1171–1176

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Extraction of grasp related features by human dual-hand object exploration

  • Krzysztof Charusta, Dimitar Dimitrov, Achim J. Lilienthal, Boyko Iliev

  • ICAR, pp. 122–127

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Online walking gait generation with adaptive foot positioning through linear model predictive control

  • Holger Diedam, Dimitar Dimitrov, Pierre-Brice Wieber, Katja Mombaur, Moritz Diehl

  • IROS, pp. 1121–1126

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On the implementation of model predictive control for on-line walking pattern generation

  • Dimitar Dimitrov, Pierre-Brice Wieber, Hans Joachim Ferreau, Moritz Diehl

  • ICRA, pp. 2685–2690

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On the capture of tumbling satellite by a space robot

  • Kazuya Yoshida, Dimitar Dimitrov, Hiroki Nakanishi

  • IROS, pp. 4127–4132

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Utilization of holonomic distribution control for reactionless path planning

  • Dimitar Dimitrov, Kazuya Yoshida

  • IROS, pp. 3387–3392

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Dynamics and control of space manipulators during a satellite capturing operation


Utilization of distributed momentum control for planning approaching trajectories of a space manipulator to a target satellite


Utilization of the bias momentum approach for capturing a tumbling satellite

Momentum distribution in a space manipulator for facilitating the post-impact control