Dimitar Nikolaev Dimitrov

Welcome!

I was a postdoc at the AASS research centre, School of Science and Technology, Örebro University from 15.Dec.2007 to 30.Sep.2012. Currently I am a researcher at INRIA Rhône-Alpes (Grenoble, France). My new website can be found here.

Courses & Seminars

(I was responsible for in Örebro University)

• Optimization seminar

  (2011)

• Multibody simulation

  (2009, 2010, 2011)

• Manipulation and control

  (2009, 2010, 2011)

• IPW

  (2009, 2010, 2011)

• AI in mobile robots

  (2009, teaching assistant)

Supervision

(in Örebro University)

• Antonio Paolillo (co-supervisor, main-supervisor is Prof. Alessandro De Luca)
  Walking stabilization of the NAO humanoid robot (MS thesis).
• Alexander Sherikov
  Sparse MPC formulation for walking motion generation (MS thesis).
• Krzysztof Charusta (co-supervisor)
• Robert Krug (co-supervisor)

Software

• Nao walking module

• bMSd (a Matlab toolbox)

Publications

(during my stay in Örebro University)

Journal articles and book chapters

• A. Herdt, H. Diedam, P.-B. Wieber, D. Dimitrov, K. Mombaur, and M. Diehl, Online Walking Motion Generation with Automatic Foot Step Placement. Advanced Robotics Vol. 24 No. 5-6, pp. 719-737, April, 2010. [PDF (0.4 MB)]
• D. Dimitrov, P.-B. Wieber, O. Stasse, H.J. Ferreau, and H. Diedam, An Optimized Linear Model Predictive Control Solver. Recent Advances in Optimization and its Applications in Engineering, Springer, pp. 309-318, 2010. [PDF (0.2 MB)]

Peer-reviewed conference papers (ICRA, IROS)

• F. Lagriffoul, D. Dimitrov, A. Saffiotti, and L. Karlsson, Constraint Propagation on Interval Bounds for Dealing with Geometric Backtracking. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (accepted for publication), 2012. [PDF (1.1 MB)]
• F. Pecora, M. Cirillo, and D. Dimitrov, On Mission-Dependent Coordination of Multiple Vehicles under Spatial and Temporal Constraints. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (accepted for publication), 2012. [PDF (0.4 MB)]
• K. Charusta, R. Krug, D. Dimitrov, and B. Iliev, Independent Contact Regions Based on a Patch Contact Model. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 4162-4169, 2012. [PDF (1.9 MB)]
• K. Charusta, R. Krug, T. Stoyanov, D. Dimitrov, and B. Iliev, Generation of Independent Contact Regions on Objects Reconstructed from Noisy Real-World Range Data. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 1338-1344, 2012. [PDF (1.4 MB)]
• D. Dimitrov, A. Sherikov, and P.-B. Wieber, A sparse model predictive control formulation for walking motion generation. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2292-2299, 2011. [PDF (0.2 MB)], [presentation (0.3 MB)], [errata], [smpc solver]
• R. Krug, D. Dimitrov, K. Charusta, and B. Iliev, Prioritized Independent Contact Regions for Form Closure Grasps. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1797-1803, 2011. [PDF (1.3 MB)]
• D. Dimitrov, A. Paolillo, and P.-B. Wieber, Walking motion generation with online foot position adaptation based on L_1- and L_\inf-norm penalty formulations . Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 3523-3529, 2011. [PDF (0.14 MB)], [presentation (0.4 MB)]
• R. Krug, D. Dimitrov, K. Charusta, and B. Iliev, On the Efficient Computation of Independent Contact Regions for Force Closure Grasps. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 586-591, 2010. [PDF (0.7 MB)],
• D. Dimitrov, P.-B. Wieber, O. Stasse, H. J. Ferreau, and H. Diedam, An Optimized Linear Model Predictive Control Solver for Online Walking Motion Generation. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 1171-1176, 2009. [PDF (0.2 MB)], [digest (0.1 MB)]
• H. Diedam, D. Dimitrov, P.-B. Wieber, M. Katja, and M. Diehl, Online walking gait generation with adaptive foot positioning through linear model predictive control. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1121-1126, 2008. [PDF (0.3 MB)]
• D. Dimitrov, P.-B. Wieber, H. J. Ferreau, and M. Diehl, On the Implementation of Model Predictive Control for On-line Walking Pattern Generation. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 2685-2690, 2008. [PDF (0.3 MB)], [presentation (1.9 MB)], [digest (0.1 MB)]

Other

• E. Berglund, B. Iliev, R. Palm, R. Krug, K. Charusta, D. Dimitrov, Mapping between different kinematic structures without absolute positioning. IEEE International Conference on Robotics and Automation (ICRA) (Workshop on Autonomous Grasping), 2011. [PDF (0.4 MB)]
• K. Charusta, D. Dimitrov, A. J. Lilienthal and B. Iliev, Extraction of Grasp Related Features by Human Dual-Hand Object Exploration. Proceedings of the International Conference on Advanced Robotics (ICAR), pp. 122-127, 2009. [PDF (0.5 MB)], [presentation (4.9 MB)]

Contact

My new website can be found here.

[last updated on 17.Oct.2012]