Dragomir N. Nenchev

According to our database, Dragomir N. Nenchev authored at least 86 papers between 1988 and 2022.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of four.

2022

Emergent Humanoid Robot Motion Synergies Derived From the Momentum Equilibrium Principle and the Distribution of Momentum.

Dragomir N. Nenchev, Ryo Iizuka

IEEE Trans. Robotics, 2022

2021

Motion Generation and Control of Acrobatic Motion Synergies Emerging From the Momentum Equilibrium Principle.

Ryo Iizuka, Dragomir N. Nenchev, Daisuke Sato

Proceedings of the 20th IEEE-RAS International Conference on Humanoid Robots, 2021

2020

Walking With Arm Swinging and Pelvis Rotation Generated With the Relative Angular Acceleration.

Akinori Miyata, Sho Miyahara, Dragomir N. Nenchev

IEEE Robotics Autom. Lett., 2020

Walking With Hand Motion/Force Control and CoM/VRP and Trunk Compliance for Disturbance Accommodation.

Ryo Iizuka, Sho Miyahara, Dragomir N. Nenchev

IEEE Robotics Autom. Lett., 2020

HILS Using a Minimum Number of Joint Module Testbeds for Analyzing a Multi-DoF Manipulator.

Yusuke Noda, Teppei Tsujita, Satoko Abiko, Daisuke Sato, Dragomir N. Nenchev

Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2020

Hardware-In-the-Loop-Simulation of a Planar Manipulator with an Elastic Joint.

Satoko Abiko, Tetsuya Kimura, Yusuke Noda, Teppei Tsujita, Daisuke Sato, Dragomir N. Nenchev

Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2020

2019

The VRP Generalized Inverse and Its Application in DCM/VRP-Based Walking Control.

Dragomir N. Nenchev, Akinori Miyata, Sho Miyahara, Takehide Hamano

IEEE Robotics Autom. Lett., 2019

Dynamic Stepping on Unknown Obstacles With Upper-Body Compliance and Angular Momentum Damping From the Reaction Null-Space.

Yuki Hidaka, Kajun Nishizawa, Dragomir N. Nenchev

Proceedings of the International Conference on Robotics and Automation, 2019

2018

The DCM generalized inverse: efficient body-wrench distribution in multi-contact balance control.

Masahiro Hosokawa, Dragomir N. Nenchev, Takahide Hamano

Adv. Robotics, 2018

The Momentum Equilibrium Principle: Foot Contact Stabilization with Relative Angular Momentum/Velocity.

Dragomir N. Nenchev

Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots, 2018

Balance Stabilization with Angular Momentum Damping Derived from the Reaction Null-Space.

Ryotaro Hinata, Dragomir N. Nenchev

Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots, 2018

2017

Analytical formula for the pseudoinverse and its application for singular path tracking with a class of redundant robotic limbs.

Shogo Miyata, Sho Miyahara, Dragomir N. Nenchev

Adv. Robotics, 2017

2016

Task-space dynamics and motion/force control of fixed-base manipulators under reaction null-space-based redundancy resolution.

Dragomir N. Nenchev, Ryohei Okawa, Hiroki Sone

Robotica, 2016

2015

On some practical reactionless motion tasks with a free-floating space robot.

Hiroki Sone, Dragomir N. Nenchev

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

2014

Postural Balance Strategies in Response to Disturbances in the Frontal Plane and Their Implementation With a Humanoid Robot.

Yuki Yoshida, Kohei Takeuchi, Yasuhiro Miyamoto, Daisuke Sato, Dragomir N. Nenchev

IEEE Trans. Syst. Man Cybern. Syst., 2014

Modeling of everyday objects for semantic grasp.

Yohei Shiraki, Kazuyuki Nagata, Natsuki Yamanobe, Akira Nakamura, Kensuke Harada, Daisuke Sato, Dragomir N. Nenchev

Proceedings of the 23rd IEEE International Symposium on Robot and Human Interactive Communication, 2014

A novel singularity-consistent inverse kinematics decomposition for S-R-S type manipulators.

Shota Taki, Dragomir N. Nenchev

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

2013

Simple timing generation along workspace paths for nonredundant robotic limbs.

Shota Taki, Yoichi Handa, Naoyuki Hara, Dragomir N. Nenchev

Adv. Robotics, 2013

Special Issue on Cutting Edge of Robotics in Japan 2013.

Dragomir N. Nenchev

Adv. Robotics, 2013

Modular home robot system based on the MMM concept-design instance with detachable symmetric arm module.

Takahito Tsuchiya, Yohei Shiraki, Sachi Sekido, Akihiro Yamamoto, Daisuke Sato, Dragomir N. Nenchev

Proceedings of the 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2013

2012

End-link dynamics of redundant robotic limbs: The Reaction Null Space approach.

Naoyuki Hara, Yoichi Handa, Dragomir N. Nenchev

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

2011

Preface.

Christian Ott, Dragomir N. Nenchev

Adv. Robotics, 2011

Balance control of humanoid robots in response to disturbances in the frontal plane.

Yuki Yoshida, Kohei Takeuchi, Daisuke Sato, Dragomir N. Nenchev

Proceedings of the 2011 IEEE International Conference on Robotics and Biomimetics, 2011

Postural balance strategies for humanoid robots in response to disturbances in the frontal plane.

Yuki Yoshida, Kohei Takeuchi, Daisuke Sato, Dragomir N. Nenchev

Proceedings of the 2011 IEEE International Conference on Robotics and Biomimetics, 2011

Experimental evaluation of a trajectory/force tracking controller for a humanoid robot cleaning a vertical surface.

Fuyuki Sato, Tatsuya Nishii, Jun Takahashi, Yuki Yoshida, Masaru Mitsuhashi, Dragomir N. Nenchev

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Upper-body kinesthetic teaching of a free-standing humanoid robot.

Petar Kormushev, Dragomir N. Nenchev, Sylvain Calinon, Darwin G. Caldwell

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

2010

Natural motion: Efficient path tracking with robotic limbs.

Dragomir N. Nenchev, Yoichi Handa, Daisuke Sato

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Picking up an indicated object in a complex environment.

Kazuyuki Nagata, Takashi Miyasaka, Dragomir N. Nenchev, Natsuki Yamanobe, Kenichi Maruyama, Satoshi Kawabata, Yoshihiro Kawai

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Limit cycle based walk of a powered 7DOF 3D biped with flat feet.

Yuzuru Harada, Jun Takahashi, Dragomir N. Nenchev, Daisuke Sato

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Momentum conserving path tracking through dynamic singularities with a flexible-base redundant manipulator.

Naoyuki Hara, Dragomir N. Nenchev, Qiao Sun, Daisuke Sato

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

2009

Experimental study on dynamic reactionless motions with DLR's humanoid robot Justin.

Thomas Wimböck, Dragomir N. Nenchev, Alin Albu-Schäffer, Gerd Hirzinger

Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

Three-dimensional Limit Cycle Walking with joint actuation.

Kentaro Miyahara, Yuzuru Harada, Dragomir N. Nenchev, Daisuke Sato

Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

2008

Ankle and hip strategies for balance recovery of a biped subjected to an impact.

Dragomir N. Nenchev, Akinori Nishio

Robotica, 2008

Development of a skincare robot.

Yuichi Tsumaki, Takayuki Kon, Asami Suginuma, Kei Imada, Akinori Sekiguchi, Dragomir N. Nenchev, Hajime Nakano, Katsumi Hanada

Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

2007

Experimental validation of ankle and hip strategies for balance recovery with a biped subjected to an impact.

Dragomir N. Nenchev, Akinori Nishio

Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29, 2007

2006

Static Walk of a Humanoid Robot Based on the Singularity-Consistent Method.

Kentaro Takahashi, M. Noda, Dragomir N. Nenchev, Yuichi Tsumaki, Akinori Sekiguchi

Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

Balance Control of a Humanoid Robot Based on the Reaction Null Space Method.

Akinori Nishio, Kentaro Takahashi, Dragomir N. Nenchev

Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

Singularity-Consistent Vibration Suppression Control With a Redundant Manipulator Mounted on a Flexible Base.

Toshimitsu Hishinuma, Dragomir N. Nenchev

Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

A Walking Pattern Generator around Singularity.

Akinori Sekiguchi, Yuki Atobe, Koki Kameta, Yuichi Tsumaki, Dragomir N. Nenchev

Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, 2006

2005

Walking control using the SC approach for humanoid robot.

Koki Kameta, Akinori Sekiguchi, Yuichi Tsumaki, Dragomir N. Nenchev

Proceedings of the 5th IEEE-RAS International Conference on Humanoid Robots, 2005

2004

Singularity-consistent kinematic redundancy resolution for the S-R-S manipulator.

Dragomir N. Nenchev, Yuichi Tsumaki, Mitsugu Takahashi

Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 28, 2004

2003

Intra-Vehicular Free-Flyer System.

Yuichi Tsumaki, Mami Yokohama, Dragomir N. Nenchev

Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27, 2003

Motion analysis of a kinematically redundant seven-DOF manipulator under the singularity-consistent method.

Dragomir N. Nenchev, Yuichi Tsumaki

Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

2002

The singularity-consistent method applied to a four-DOF redundant manipulator.

Dragomir N. Nenchev, Yuichi Tsumaki

Proceedings of the Seventh International Conference on Control, 2002

2000

Singularity-Consistent Parameterization of Robot Motion and Control.

Dragomir N. Nenchev, Yuichi Tsumaki, Masaru Uchiyama

Int. J. Robotics Res., 2000

1999

Reaction null-space control of flexible structure mounted manipulator systems.

Dragomir N. Nenchev, Kazuya Yoshida, Prasart Vichitkulsawat, Masaru Uchiyama

IEEE Trans. Robotics Autom., 1999

Impact analysis and post-impact motion control issues of a free-floating Space robot subject to a force impulse.

Dragomir N. Nenchev, Kazuya Yoshida

IEEE Trans. Robotics Autom., 1999

Real-Time Motion Control in the Neighborhood of Singularities: A Comparative Study Between the SC and the DLS Method.

Dragomir N. Nenchev, Yuichi Tsumaki, Masaru Uchiyama

Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 1999

1998

Singularity-Consistent Behavior of Telerobots: Theory and Experiments.

Dragomir N. Nenchev, Yuichi Tsumaki, Masaru Uchiyama

Int. J. Robotics Res., 1998

Motion control of dual-arm long-reach manipulators.

Akio Gouo, Dragomir N. Nenchev, Kazuya Yoshida, Masaru Uchiyama

Adv. Robotics, 1998

Reaction null-space based control of under-actuated manipulators.

Kazuya Yoshida, Dragomir N. Nenchev

Proceedings of the Proceedings 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, 1998

Advanced experiments with a teleoperation system based on the SC approach.

Yuichi Tsumaki, Shinji Kotera, Dragomir N. Nenchev, Masaru Uchiyama

Proceedings of the Proceedings 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, 1998

Dual-arm long-reach manipulators: noncontact motion control strategies.

Akio Gouo, Dragomir N. Nenchev, Kazuya Yoshida, Masaru Uchiyama

Proceedings of the Proceedings 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, 1998

Design of a Compact 6-DOF Haptic interface.

Yuichi Tsumaki, Hitoshi Naruse, Dragomir N. Nenchev, Masaru Uchiyama

Proceedings of the IEEE International Conference on Robotics and Automation, 1998

Momentum Control of a Tethered Space Robot through Tether Tension Control.

Masahiro Nohmi, Dragomir N. Nenchev, Masaru Uchiyama

Proceedings of the IEEE International Conference on Robotics and Automation, 1998

Impact Analysis and Post-Impact Motion Control Issues of a Free-Floating Space Robot Contacting a Tumbling Object.

Dragomir N. Nenchev, Kazuya Yoshida

Proceedings of the IEEE International Conference on Robotics and Automation, 1998

1997

Dynamic Analysis of Parallel Manipulators under the Singularity-Consistent Parameterization.

Dragomir N. Nenchev, Soumya Bhattacharya, Masaru Uchiyama

Robotica, 1997

Singularity-consistent path planning and motion control through instantaneous self-motion singularities of parallel-link manipulators.

Dragomir N. Nenchev, Masaru Uchiyama

J. Field Robotics, 1997

On force control in human physical skill.

Yuichi Tsumaki, Hitoshi Naruse, Dragomir N. Nenchev, Masaru Uchiyama

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97, 1997

Singularity-consistent inverse kinematics of a 6-DOF manipulator with a non-spherical wrist.

Yuichi Tsumaki, Shinji Kotera, Dragomir N. Nenchev, Masaru Uchiyama

Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 1997

Path planning for a tethered space robot.

Masahiro Nohmi, Dragomir N. Nenchev, Masaru Uchiyama

Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 1997

Experiments on reaction null-space based decoupled control of a flexible structure mounted manipulator system.

Dragomir N. Nenchev, Kazuya Yoshida, Prasart Vichitkulsawat, Atsushi Konno, Masaru Uchiyama

Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 1997

Natural motion analysis based on the singularity-consistent parametrization.

Dragomir N. Nenchev, Masaru Uchiyama

Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 1997

A singularity-consistent parametrization based direct kinematics algorithm for a class of parallel manipulators.

Soumya Bhattacharya, Dragomir N. Nenchev, Masaru Uchiyama

Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 1997

1996

Local torque minimization for redundant manipulators: a correct formulation.

Shugen Ma, Dragomir N. Nenchev

Robotica, 1996

Experiments on the point-to-point operations of a flexible structure mounted manipulator system.

Kazuya Yoshida, Dragomir N. Nenchev, Prasart Vichitkulsawat, Hiroshi Kobayashi, Masaru Uchiyama

Adv. Robotics, 1996

Experiments on the PTP operations of a flexible structure mounted manipulator system.

Kazuya Yoshida, Dragomir N. Nenchev, Prasart Vichitkulsawat, Hiroshi Kobayashi, Masaru Uchiyama

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS 1996, 1996

Trajectory planning and feedforward control of a tethered robot system.

Masahiro Nohmi, Dragomir N. Nenchev, Masaru Uchiyama

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS 1996, 1996

PARA-Arm: singularity perturbed design of a planar 2 DOF parallel manipulator.

Dragomir N. Nenchev, Masaru Uchiyama

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS 1996, 1996

Dynamic analysis of parallel-link manipulators under the singularity-consistent formulation.

Dragomir N. Nenchev, Masaru Uchiyama

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS 1996, 1996

Singularity-consistent dynamic path tracking under torque limits.

Dragomir N. Nenchev, Yuichi Tsumaki, Shugen Ma, Masaru Uchiyama

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS 1996, 1996

Stability of control system in handling of a flexible object by rigid arm robots.

Toshihiro Yukawa, Masaru Uchiyama, Dragomir N. Nenchev, Hikaru Inooka

Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 1996

Experimental teleoperation of a nonredundant slave arm at and around singularities.

Yuichi Tsumaki, Dragomir N. Nenchev, Masaru Uchiyama

Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 1996

Singularity-consistent path planning and control of parallel robot motion through instantaneous-self-motion type singularities.

Dragomir N. Nenchev, Masaru Uchiyama

Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 1996

Two approaches to singularity-consistent motion of nonredundant robotic mechanisms.

Dragomir N. Nenchev, Yuichi Tsumaki, Masaru Uchiyama, V. Senft, Gerhard Hirzinger

Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 1996

Adjoint Jacobian closed-loop kinematic control of robots.

Dragomir N. Nenchev, Yuichi Tsumaki, Masaru Uchiyama

Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 1996

1995

Tracking Manipulator Trajectories With Ordinary Singularities: A Null Space-Based Approach.

Dragomir N. Nenchev

Int. J. Robotics Res., 1995

Space Robot Impact Analysis and Satellite-Base Impulse Minimization Using Reaction Null-Space.

Kazuya Yoshida, Dragomir N. Nenchev

Proceedings of the 1995 International Conference on Robotics and Automation, 1995

Singularity-Consistent Path Tracking: A Null Space Based Approach.

Dragomir N. Nenchev, Masaru Uchiyama

Proceedings of the 1995 International Conference on Robotics and Automation, 1995

1994

Dynamic task-priority allocation for kinematically redundant robotic mechanisms.

Dragomir N. Nenchev, Zlatko M. Sotirov

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 1994

Recursive Local Kinematic Inversion with Dynamic Task-Priority Allocation.

Dragomir N. Nenchev

Proceedings of the 1994 International Conference on Robotics and Automation, 1994

1993

A controller for a redundant free-flying space robot with spacecraft attitude/manipulator motion coordination.

Dragomir N. Nenchev

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1993

1992

Analysis of a redundant free-flying spacecraft/manipulator system.

Dragomir N. Nenchev, Yoji Umetani, Kazuya Yoshida

IEEE Trans. Robotics Autom., 1992

1991

Improving local torque optimization techniques for redundant robotic mechanisms.

Shugen Ma, Shigeo Hirose, Dragomir N. Nenchev

J. Field Robotics, 1991

1989

Redundancy resolution through local optimization: A review.

Dragomir N. Nenchev

J. Field Robotics, 1989

1988

Introduction of redundant arms for manipulation in space.

Dragomir N. Nenchev, Kazuya Yoshida, Yoji Umetani

Proceedings of the IEEE International Workshop on Intelligent Robots and Systems '88, Proceedings. IROS 1988, Tokyo, Japan, October 31, 1988