Dragomir N. Nenchev

Publication Activity (10 Years)

Years Active: 1988-2022
Publications (10 Years): 13

Top Topics

Inverse Kinematics

Everyday Objects

Top Venues

IEEE Robotics Autom. Lett.

Publications

Dragomir N. Nenchev, Ryo Iizuka
Emergent Humanoid Robot Motion Synergies Derived From the Momentum Equilibrium Principle and the Distribution of Momentum. IEEE Trans. Robotics 38 (1) (2022)
Ryo Iizuka, Dragomir N. Nenchev, Daisuke Sato
Motion Generation and Control of Acrobatic Motion Synergies Emerging From the Momentum Equilibrium Principle. HUMANOIDS (2021)
Satoko Abiko, Tetsuya Kimura, Yusuke Noda, Teppei Tsujita, Daisuke Sato, Dragomir N. Nenchev
Hardware-In-the-Loop-Simulation of a Planar Manipulator with an Elastic Joint. AIM (2020)
Yusuke Noda, Teppei Tsujita, Satoko Abiko, Daisuke Sato, Dragomir N. Nenchev
HILS Using a Minimum Number of Joint Module Testbeds for Analyzing a Multi-DoF Manipulator. AIM (2020)
Akinori Miyata, Sho Miyahara, Dragomir N. Nenchev
Walking With Arm Swinging and Pelvis Rotation Generated With the Relative Angular Acceleration. IEEE Robotics Autom. Lett. 5 (1) (2020)
Ryo Iizuka, Sho Miyahara, Dragomir N. Nenchev
Walking With Hand Motion/Force Control and CoM/VRP and Trunk Compliance for Disturbance Accommodation. IEEE Robotics Autom. Lett. 5 (1) (2020)
Yuki Hidaka, Kajun Nishizawa, Dragomir N. Nenchev
Dynamic Stepping on Unknown Obstacles With Upper-Body Compliance and Angular Momentum Damping From the Reaction Null-Space. ICRA (2019)
Dragomir N. Nenchev, Akinori Miyata, Sho Miyahara, Takehide Hamano
The VRP Generalized Inverse and Its Application in DCM/VRP-Based Walking Control. IEEE Robotics Autom. Lett. 4 (4) (2019)
Dragomir N. Nenchev
The Momentum Equilibrium Principle: Foot Contact Stabilization with Relative Angular Momentum/Velocity. Humanoids (2018)
Masahiro Hosokawa, Dragomir N. Nenchev, Takahide Hamano
The DCM generalized inverse: efficient body-wrench distribution in multi-contact balance control. Adv. Robotics 32 (14) (2018)
Ryotaro Hinata, Dragomir N. Nenchev
Balance Stabilization with Angular Momentum Damping Derived from the Reaction Null-Space. Humanoids (2018)
Shogo Miyata, Sho Miyahara, Dragomir N. Nenchev
Analytical formula for the pseudoinverse and its application for singular path tracking with a class of redundant robotic limbs. Adv. Robotics 31 (10) (2017)
Dragomir N. Nenchev, Ryohei Okawa, Hiroki Sone
Task-space dynamics and motion/force control of fixed-base manipulators under reaction null-space-based redundancy resolution. Robotica 34 (12) (2016)
Hiroki Sone, Dragomir N. Nenchev
On some practical reactionless motion tasks with a free-floating space robot. ICRA (2015)
Yohei Shiraki, Kazuyuki Nagata, Natsuki Yamanobe, Akira Nakamura, Kensuke Harada, Daisuke Sato, Dragomir N. Nenchev
Modeling of everyday objects for semantic grasp. RO-MAN (2014)
Shota Taki, Dragomir N. Nenchev
A novel singularity-consistent inverse kinematics decomposition for S-R-S type manipulators. ICRA (2014)
Yuki Yoshida, Kohei Takeuchi, Yasuhiro Miyamoto, Daisuke Sato, Dragomir N. Nenchev
Postural Balance Strategies in Response to Disturbances in the Frontal Plane and Their Implementation With a Humanoid Robot. IEEE Trans. Syst. Man Cybern. Syst. 44 (6) (2014)
Takahito Tsuchiya, Yohei Shiraki, Sachi Sekido, Akihiro Yamamoto, Daisuke Sato, Dragomir N. Nenchev
Modular home robot system based on the MMM concept-design instance with detachable symmetric arm module. AIM (2013)
Dragomir N. Nenchev
Special Issue on Cutting Edge of Robotics in Japan 2013. Adv. Robotics 27 (1) (2013)
Shota Taki, Yoichi Handa, Naoyuki Hara, Dragomir N. Nenchev
Simple timing generation along workspace paths for nonredundant robotic limbs. Adv. Robotics 27 (18) (2013)
Naoyuki Hara, Yoichi Handa, Dragomir N. Nenchev
End-link dynamics of redundant robotic limbs: The Reaction Null Space approach. ICRA (2012)
Petar Kormushev, Dragomir N. Nenchev, Sylvain Calinon, Darwin G. Caldwell
Upper-body kinesthetic teaching of a free-standing humanoid robot. ICRA (2011)
Yuki Yoshida, Kohei Takeuchi, Daisuke Sato, Dragomir N. Nenchev
Balance control of humanoid robots in response to disturbances in the frontal plane. ROBIO (2011)
Fuyuki Sato, Tatsuya Nishii, Jun Takahashi, Yuki Yoshida, Masaru Mitsuhashi, Dragomir N. Nenchev
Experimental evaluation of a trajectory/force tracking controller for a humanoid robot cleaning a vertical surface. IROS (2011)
Christian Ott, Dragomir N. Nenchev
Preface. Adv. Robotics 25 (5) (2011)
Yuki Yoshida, Kohei Takeuchi, Daisuke Sato, Dragomir N. Nenchev
Postural balance strategies for humanoid robots in response to disturbances in the frontal plane. ROBIO (2011)
Naoyuki Hara, Dragomir N. Nenchev, Qiao Sun, Daisuke Sato
Momentum conserving path tracking through dynamic singularities with a flexible-base redundant manipulator. IROS (2010)
Yuzuru Harada, Jun Takahashi, Dragomir N. Nenchev, Daisuke Sato
Limit cycle based walk of a powered 7DOF 3D biped with flat feet. IROS (2010)
Dragomir N. Nenchev, Yoichi Handa, Daisuke Sato
Natural motion: Efficient path tracking with robotic limbs. IROS (2010)
Kazuyuki Nagata, Takashi Miyasaka, Dragomir N. Nenchev, Natsuki Yamanobe, Kenichi Maruyama, Satoshi Kawabata, Yoshihiro Kawai
Picking up an indicated object in a complex environment. IROS (2010)
Thomas Wimböck, Dragomir N. Nenchev, Alin Albu-Schäffer, Gerd Hirzinger
Experimental study on dynamic reactionless motions with DLR's humanoid robot Justin. IROS (2009)
Kentaro Miyahara, Yuzuru Harada, Dragomir N. Nenchev, Daisuke Sato
Three-dimensional Limit Cycle Walking with joint actuation. IROS (2009)
Yuichi Tsumaki, Takayuki Kon, Asami Suginuma, Kei Imada, Akinori Sekiguchi, Dragomir N. Nenchev, Hajime Nakano, Katsumi Hanada
Development of a skincare robot. ICRA (2008)
Dragomir N. Nenchev, Akinori Nishio
Ankle and hip strategies for balance recovery of a biped subjected to an impact. Robotica 26 (5) (2008)
Dragomir N. Nenchev, Akinori Nishio
Experimental validation of ankle and hip strategies for balance recovery with a biped subjected to an impact. IROS (2007)
Akinori Sekiguchi, Yuki Atobe, Koki Kameta, Yuichi Tsumaki, Dragomir N. Nenchev
A Walking Pattern Generator around Singularity. Humanoids (2006)
Akinori Nishio, Kentaro Takahashi, Dragomir N. Nenchev
Balance Control of a Humanoid Robot Based on the Reaction Null Space Method. IROS (2006)
Kentaro Takahashi, M. Noda, Dragomir N. Nenchev, Yuichi Tsumaki, Akinori Sekiguchi
Static Walk of a Humanoid Robot Based on the Singularity-Consistent Method. IROS (2006)
Toshimitsu Hishinuma, Dragomir N. Nenchev
Singularity-Consistent Vibration Suppression Control With a Redundant Manipulator Mounted on a Flexible Base. IROS (2006)
Koki Kameta, Akinori Sekiguchi, Yuichi Tsumaki, Dragomir N. Nenchev
Walking control using the SC approach for humanoid robot. Humanoids (2005)
Dragomir N. Nenchev, Yuichi Tsumaki, Mitsugu Takahashi
Singularity-consistent kinematic redundancy resolution for the S-R-S manipulator. IROS (2004)
Yuichi Tsumaki, Mami Yokohama, Dragomir N. Nenchev
Intra-Vehicular Free-Flyer System. IROS (2003)
Dragomir N. Nenchev, Yuichi Tsumaki
Motion analysis of a kinematically redundant seven-DOF manipulator under the singularity-consistent method. ICRA (2003)
Dragomir N. Nenchev, Yuichi Tsumaki
The singularity-consistent method applied to a four-DOF redundant manipulator. ICARCV (2002)
Dragomir N. Nenchev, Yuichi Tsumaki, Masaru Uchiyama
Singularity-Consistent Parameterization of Robot Motion and Control. Int. J. Robotics Res. 19 (2) (2000)
Dragomir N. Nenchev, Kazuya Yoshida, Prasart Vichitkulsawat, Masaru Uchiyama
Reaction null-space control of flexible structure mounted manipulator systems. IEEE Trans. Robotics Autom. 15 (6) (1999)
Dragomir N. Nenchev, Yuichi Tsumaki, Masaru Uchiyama
Real-Time Motion Control in the Neighborhood of Singularities: A Comparative Study Between the SC and the DLS Method. ICRA (1999)
Dragomir N. Nenchev, Kazuya Yoshida
Impact analysis and post-impact motion control issues of a free-floating Space robot subject to a force impulse. IEEE Trans. Robotics Autom. 15 (3) (1999)
Akio Gouo, Dragomir N. Nenchev, Kazuya Yoshida, Masaru Uchiyama
Dual-arm long-reach manipulators: noncontact motion control strategies. IROS (1998)
Yuichi Tsumaki, Hitoshi Naruse, Dragomir N. Nenchev, Masaru Uchiyama
Design of a Compact 6-DOF Haptic interface. ICRA (1998)
Masahiro Nohmi, Dragomir N. Nenchev, Masaru Uchiyama
Momentum Control of a Tethered Space Robot through Tether Tension Control. ICRA (1998)
Yuichi Tsumaki, Shinji Kotera, Dragomir N. Nenchev, Masaru Uchiyama
Advanced experiments with a teleoperation system based on the SC approach. IROS (1998)
Kazuya Yoshida, Dragomir N. Nenchev
Reaction null-space based control of under-actuated manipulators. IROS (1998)
Dragomir N. Nenchev, Yuichi Tsumaki, Masaru Uchiyama
Singularity-Consistent Behavior of Telerobots: Theory and Experiments. Int. J. Robotics Res. 17 (2) (1998)
Akio Gouo, Dragomir N. Nenchev, Kazuya Yoshida, Masaru Uchiyama
Motion control of dual-arm long-reach manipulators. Adv. Robotics 13 (6) (1998)
Dragomir N. Nenchev, Kazuya Yoshida
Impact Analysis and Post-Impact Motion Control Issues of a Free-Floating Space Robot Contacting a Tumbling Object. ICRA (1998)
Dragomir N. Nenchev, Masaru Uchiyama
Singularity-consistent path planning and motion control through instantaneous self-motion singularities of parallel-link manipulators. J. Field Robotics 14 (1) (1997)
Dragomir N. Nenchev, Kazuya Yoshida, Prasart Vichitkulsawat, Atsushi Konno, Masaru Uchiyama
Experiments on reaction null-space based decoupled control of a flexible structure mounted manipulator system. ICRA (1997)
Dragomir N. Nenchev, Masaru Uchiyama
Natural motion analysis based on the singularity-consistent parametrization. ICRA (1997)
Masahiro Nohmi, Dragomir N. Nenchev, Masaru Uchiyama
Path planning for a tethered space robot. ICRA (1997)
Yuichi Tsumaki, Shinji Kotera, Dragomir N. Nenchev, Masaru Uchiyama
Singularity-consistent inverse kinematics of a 6-DOF manipulator with a non-spherical wrist. ICRA (1997)
Dragomir N. Nenchev, Soumya Bhattacharya, Masaru Uchiyama
Dynamic Analysis of Parallel Manipulators under the Singularity-Consistent Parameterization. Robotica 15 (4) (1997)
Soumya Bhattacharya, Dragomir N. Nenchev, Masaru Uchiyama
A singularity-consistent parametrization based direct kinematics algorithm for a class of parallel manipulators. ICRA (1997)
Yuichi Tsumaki, Hitoshi Naruse, Dragomir N. Nenchev, Masaru Uchiyama
On force control in human physical skill. IROS (1997)
Yuichi Tsumaki, Dragomir N. Nenchev, Masaru Uchiyama
Experimental teleoperation of a nonredundant slave arm at and around singularities. ICRA (1996)
Dragomir N. Nenchev, Yuichi Tsumaki, Shugen Ma, Masaru Uchiyama
Singularity-consistent dynamic path tracking under torque limits. IROS (1996)
Toshihiro Yukawa, Masaru Uchiyama, Dragomir N. Nenchev, Hikaru Inooka
Stability of control system in handling of a flexible object by rigid arm robots. ICRA (1996)
Kazuya Yoshida, Dragomir N. Nenchev, Prasart Vichitkulsawat, Hiroshi Kobayashi, Masaru Uchiyama
Experiments on the point-to-point operations of a flexible structure mounted manipulator system. Adv. Robotics 11 (4) (1996)
Dragomir N. Nenchev, Yuichi Tsumaki, Masaru Uchiyama
Adjoint Jacobian closed-loop kinematic control of robots. ICRA (1996)
Dragomir N. Nenchev, Masaru Uchiyama
PARA-Arm: singularity perturbed design of a planar 2 DOF parallel manipulator. IROS (1996)
Masahiro Nohmi, Dragomir N. Nenchev, Masaru Uchiyama
Trajectory planning and feedforward control of a tethered robot system. IROS (1996)
Kazuya Yoshida, Dragomir N. Nenchev, Prasart Vichitkulsawat, Hiroshi Kobayashi, Masaru Uchiyama
Experiments on the PTP operations of a flexible structure mounted manipulator system. IROS (1996)
Dragomir N. Nenchev, Yuichi Tsumaki, Masaru Uchiyama, V. Senft, Gerhard Hirzinger
Two approaches to singularity-consistent motion of nonredundant robotic mechanisms. ICRA (1996)
Dragomir N. Nenchev, Masaru Uchiyama
Singularity-consistent path planning and control of parallel robot motion through instantaneous-self-motion type singularities. ICRA (1996)
Shugen Ma, Dragomir N. Nenchev
Local torque minimization for redundant manipulators: a correct formulation. Robotica 14 (2) (1996)
Dragomir N. Nenchev, Masaru Uchiyama
Dynamic analysis of parallel-link manipulators under the singularity-consistent formulation. IROS (1996)
Dragomir N. Nenchev, Masaru Uchiyama
Singularity-Consistent Path Tracking: A Null Space Based Approach. ICRA (1995)
Kazuya Yoshida, Dragomir N. Nenchev
Space Robot Impact Analysis and Satellite-Base Impulse Minimization Using Reaction Null-Space. ICRA (1995)
Dragomir N. Nenchev
Tracking Manipulator Trajectories With Ordinary Singularities: A Null Space-Based Approach. Int. J. Robotics Res. 14 (4) (1995)
Dragomir N. Nenchev, Zlatko M. Sotirov
Dynamic task-priority allocation for kinematically redundant robotic mechanisms. IROS (1994)
Dragomir N. Nenchev
Recursive Local Kinematic Inversion with Dynamic Task-Priority Allocation. ICRA (1994)
Dragomir N. Nenchev
A controller for a redundant free-flying space robot with spacecraft attitude/manipulator motion coordination. IROS (1993)
Dragomir N. Nenchev, Yoji Umetani, Kazuya Yoshida
Analysis of a redundant free-flying spacecraft/manipulator system. IEEE Trans. Robotics Autom. 8 (1) (1992)
Shugen Ma, Shigeo Hirose, Dragomir N. Nenchev
Improving local torque optimization techniques for redundant robotic mechanisms. J. Field Robotics 8 (1) (1991)
Dragomir N. Nenchev
Redundancy resolution through local optimization: A review. J. Field Robotics 6 (6) (1989)
Dragomir N. Nenchev, Kazuya Yoshida, Yoji Umetani
Introduction of redundant arms for manipulation in space. IROS (1988)