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

E-mail:	alexander {at} sherikov.net
GitHub:	http://github.com/asherikov
LinkedIn:	http://www.linkedin.com/in/asherikov

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)

@phdthesis{Sherikov2016phd,
  author = {Alexander Sherikov},
  school = {Communaut\'e Universit\'e Grenoble Alpes},
  title = {Balance preservation and task prioritization in whole body motion control of humanoid robots},
  year = {2016},
}

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

@mastersthesis{Sherikov2012master,
  author = {Alexander Sherikov},
  title = {Model predictive control of a walking bipedal robot using online optimization},
  school = {\"Orebro University},
  year = {2012},
}

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).