About

Hi there! I am a robotics software developer with a PhD and MS degrees in control of humanoid robots. This page is an index to my past and present activities related to research and software development.

Contacts

Publications

• Complete list of my publications is available here and on my Google Scholar page.

• PhD thesis, under supervision of Pierre-Brice Wieber:
  Sherikov. Balance preservation and task prioritization in whole body motion control of humanoid robots. (bibtex) (pdf) (more)

• MS thesis, under supervision of Dimitar Dimitrov:
  Sherikov. Model predictive control of a walking bipedal robot using online optimization. (bibtex) (pdf) (video) (more)

Software

• Nao robot walking module and a specialized QP solver implemented during my work on my MS thesis are described in detail on a separate page.

• HUMOTO : optimization framework for robot control. I've been working on this project during my employment as a research engineer at INRIA, France.

• qpmad : Eigen-based, header-only QP solver for embedded optimization in robot control.

• ariles : C++ metaprogramming library with focus on serialization and configuration (YAML, ROS parameter server, XML, etc).