Introduction of redundant arms for manipulation in space. - Dragomir N. Nenchev; Kazuya Yoshida; Yoji Umetani (IROS, 1988)

Redundancy resolution through local optimization: A review. - Dragomir N. Nenchev (J. Field Robotics, 1989)

Improving local torque optimization techniques for redundant robotic mechanisms. - Shugen Ma; Shigeo Hirose; Dragomir N. Nenchev (J. Field Robotics, 1991)

Analysis of a redundant free-flying spacecraft/manipulator system. - Dragomir N. Nenchev; Yoji Umetani; Kazuya Yoshida (IEEE Trans. Robotics Autom., 1992)

A controller for a redundant free-flying space robot with spacecraft attitude/manipulator motion coordination. - Dragomir N. Nenchev (IROS, 1993)

Recursive Local Kinematic Inversion with Dynamic Task-Priority Allocation. - Dragomir N. Nenchev (ICRA, 1994)

Dynamic task-priority allocation for kinematically redundant robotic mechanisms. - Dragomir N. Nenchev; Zlatko M. Sotirov (IROS, 1994)

Singularity-Consistent Path Tracking: A Null Space Based Approach. - Dragomir N. Nenchev; Masaru Uchiyama (ICRA, 1995)

Space Robot Impact Analysis and Satellite-Base Impulse Minimization Using Reaction Null-Space. - Kazuya Yoshida; Dragomir N. Nenchev (ICRA, 1995)

Tracking Manipulator Trajectories With Ordinary Singularities: A Null Space-Based Approach. - Dragomir N. Nenchev (Int. J. Robotics Res., 1995)

Adjoint Jacobian closed-loop kinematic control of robots. - Dragomir N. Nenchev; Yuichi Tsumaki; Masaru Uchiyama (ICRA, 1996)

Two approaches to singularity-consistent motion of nonredundant robotic mechanisms. - Dragomir N. Nenchev; Yuichi Tsumaki; Masaru Uchiyama; V. Senft; Gerhard Hirzinger (ICRA, 1996)

Singularity-consistent path planning and control of parallel robot motion through instantaneous-self-motion type singularities. - Dragomir N. Nenchev; Masaru Uchiyama (ICRA, 1996)

Experimental teleoperation of a nonredundant slave arm at and around singularities. - Yuichi Tsumaki; Dragomir N. Nenchev; Masaru Uchiyama (ICRA, 1996)

Stability of control system in handling of a flexible object by rigid arm robots. - Toshihiro Yukawa; Masaru Uchiyama; Dragomir N. Nenchev; Hikaru Inooka (ICRA, 1996)

Singularity-consistent dynamic path tracking under torque limits. - Dragomir N. Nenchev; Yuichi Tsumaki; Shugen Ma; Masaru Uchiyama (IROS, 1996)

Dynamic analysis of parallel-link manipulators under the singularity-consistent formulation. - Dragomir N. Nenchev; Masaru Uchiyama (IROS, 1996)

PARA-Arm: singularity perturbed design of a planar 2 DOF parallel manipulator. - Dragomir N. Nenchev; Masaru Uchiyama (IROS, 1996)

Trajectory planning and feedforward control of a tethered robot system. - Masahiro Nohmi; Dragomir N. Nenchev; Masaru Uchiyama (IROS, 1996)

Experiments on the PTP operations of a flexible structure mounted manipulator system. - Kazuya Yoshida; Dragomir N. Nenchev; Prasart Vichitkulsawat; Hiroshi Kobayashi; Masaru Uchiyama (IROS, 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)

Local torque minimization for redundant manipulators: a correct formulation. - Shugen Ma; Dragomir N. Nenchev (Robotica, 1996)

A singularity-consistent parametrization based direct kinematics algorithm for a class of parallel manipulators. - Soumya Bhattacharya; Dragomir N. Nenchev; Masaru Uchiyama (ICRA, 1997)

Natural motion analysis based on the singularity-consistent parametrization. - Dragomir N. Nenchev; Masaru Uchiyama (ICRA, 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 (ICRA, 1997)

Path planning for a tethered space robot. - Masahiro Nohmi; Dragomir N. Nenchev; Masaru Uchiyama (ICRA, 1997)

Singularity-consistent inverse kinematics of a 6-DOF manipulator with a non-spherical wrist. - Yuichi Tsumaki; Shinji Kotera; Dragomir N. Nenchev; Masaru Uchiyama (ICRA, 1997)

On force control in human physical skill. - Yuichi Tsumaki; Hitoshi Naruse; Dragomir N. Nenchev; Masaru Uchiyama (IROS, 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)

Dynamic Analysis of Parallel Manipulators under the Singularity-Consistent Parameterization. - Dragomir N. Nenchev; Soumya Bhattacharya; Masaru Uchiyama (Robotica, 1997)

Impact Analysis and Post-Impact Motion Control Issues of a Free-Floating Space Robot Contacting a Tumbling Object. - Dragomir N. Nenchev; Kazuya Yoshida (ICRA, 1998)

Momentum Control of a Tethered Space Robot through Tether Tension Control. - Masahiro Nohmi; Dragomir N. Nenchev; Masaru Uchiyama (ICRA, 1998)

Design of a Compact 6-DOF Haptic interface. - Yuichi Tsumaki; Hitoshi Naruse; Dragomir N. Nenchev; Masaru Uchiyama (ICRA, 1998)

Dual-arm long-reach manipulators: noncontact motion control strategies. - Akio Gouo; Dragomir N. Nenchev; Kazuya Yoshida; Masaru Uchiyama (IROS, 1998)

Advanced experiments with a teleoperation system based on the SC approach. - Yuichi Tsumaki; Shinji Kotera; Dragomir N. Nenchev; Masaru Uchiyama (IROS, 1998)

Reaction null-space based control of under-actuated manipulators. - Kazuya Yoshida; Dragomir N. Nenchev (IROS, 1998)

Motion control of dual-arm long-reach manipulators. - Akio Gouo; Dragomir N. Nenchev; Kazuya Yoshida; Masaru Uchiyama (Adv. Robotics, 1998)

Singularity-Consistent Behavior of Telerobots: Theory and Experiments. - Dragomir N. Nenchev; Yuichi Tsumaki; Masaru Uchiyama (Int. J. Robotics Res., 1998)

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 (ICRA, 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)

Reaction null-space control of flexible structure mounted manipulator systems. - Dragomir N. Nenchev; Kazuya Yoshida; Prasart Vichitkulsawat; Masaru Uchiyama (IEEE Trans. Robotics Autom., 1999)

Singularity-Consistent Parameterization of Robot Motion and Control. - Dragomir N. Nenchev; Yuichi Tsumaki; Masaru Uchiyama (Int. J. Robotics Res., 2000)

The singularity-consistent method applied to a four-DOF redundant manipulator. - Dragomir N. Nenchev; Yuichi Tsumaki (ICARCV, 2002)

Motion analysis of a kinematically redundant seven-DOF manipulator under the singularity-consistent method. - Dragomir N. Nenchev; Yuichi Tsumaki (ICRA, 2003)

Intra-Vehicular Free-Flyer System. - Yuichi Tsumaki; Mami Yokohama; Dragomir N. Nenchev (IROS, 2003)

Singularity-consistent kinematic redundancy resolution for the S-R-S manipulator. - Dragomir N. Nenchev; Yuichi Tsumaki; Mitsugu Takahashi (IROS, 2004)

Walking control using the SC approach for humanoid robot. - Koki Kameta; Akinori Sekiguchi; Yuichi Tsumaki; Dragomir N. Nenchev (Humanoids, 2005)

A Walking Pattern Generator around Singularity. - Akinori Sekiguchi; Yuki Atobe; Koki Kameta; Yuichi Tsumaki; Dragomir N. Nenchev (Humanoids, 2006)

Singularity-Consistent Vibration Suppression Control With a Redundant Manipulator Mounted on a Flexible Base. - Toshimitsu Hishinuma; Dragomir N. Nenchev (IROS, 2006)

Balance Control of a Humanoid Robot Based on the Reaction Null Space Method. - Akinori Nishio; Kentaro Takahashi; Dragomir N. Nenchev (IROS, 2006)

Static Walk of a Humanoid Robot Based on the Singularity-Consistent Method. - Kentaro Takahashi; M. Noda; Dragomir N. Nenchev; Yuichi Tsumaki; Akinori Sekiguchi (IROS, 2006)

Experimental validation of ankle and hip strategies for balance recovery with a biped subjected to an impact. - Dragomir N. Nenchev; Akinori Nishio (IROS, 2007)

Development of a skincare robot. - Yuichi Tsumaki; Takayuki Kon; Asami Suginuma; Kei Imada; Akinori Sekiguchi; Dragomir N. Nenchev; Hajime Nakano; Katsumi Hanada (ICRA, 2008)

Ankle and hip strategies for balance recovery of a biped subjected to an impact. - Dragomir N. Nenchev; Akinori Nishio (Robotica, 2008)

Three-dimensional Limit Cycle Walking with joint actuation. - Kentaro Miyahara; Yuzuru Harada; Dragomir N. Nenchev; Daisuke Sato 002 (IROS, 2009)

Experimental study on dynamic reactionless motions with DLR's humanoid robot Justin. - Thomas Wimböck; Dragomir N. Nenchev; Alin Albu-Schäffer; Gerd Hirzinger (IROS, 2009)

Momentum conserving path tracking through dynamic singularities with a flexible-base redundant manipulator. - Naoyuki Hara; Dragomir N. Nenchev; Qiao Sun; Daisuke Sato 002 (IROS, 2010)

Limit cycle based walk of a powered 7DOF 3D biped with flat feet. - Yuzuru Harada; Jun Takahashi; Dragomir N. Nenchev; Daisuke Sato 002 (IROS, 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 (IROS, 2010)

Natural motion: Efficient path tracking with robotic limbs. - Dragomir N. Nenchev; Yoichi Handa; Daisuke Sato 002 (IROS, 2010)

Upper-body kinesthetic teaching of a free-standing humanoid robot. - Petar Kormushev; Dragomir N. Nenchev; Sylvain Calinon; Darwin G. Caldwell (ICRA, 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 (IROS, 2011)

Postural balance strategies for humanoid robots in response to disturbances in the frontal plane. - Yuki Yoshida; Kohei Takeuchi; Daisuke Sato 002; Dragomir N. Nenchev (ROBIO, 2011)

Balance control of humanoid robots in response to disturbances in the frontal plane. - Yuki Yoshida; Kohei Takeuchi; Daisuke Sato 002; Dragomir N. Nenchev (ROBIO, 2011)

Preface. - Christian Ott 001; Dragomir N. Nenchev (Adv. Robotics, 2011)

End-link dynamics of redundant robotic limbs: The Reaction Null Space approach. - Naoyuki Hara; Yoichi Handa; Dragomir N. Nenchev (ICRA, 2012)

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 002; Dragomir N. Nenchev (AIM, 2013)

Special Issue on Cutting Edge of Robotics in Japan 2013. - Dragomir N. Nenchev (Adv. Robotics, 2013)

Simple timing generation along workspace paths for nonredundant robotic limbs. - Shota Taki; Yoichi Handa; Naoyuki Hara; Dragomir N. Nenchev (Adv. Robotics, 2013)

A novel singularity-consistent inverse kinematics decomposition for S-R-S type manipulators. - Shota Taki; Dragomir N. Nenchev (ICRA, 2014)

Modeling of everyday objects for semantic grasp. - Yohei Shiraki; Kazuyuki Nagata; Natsuki Yamanobe; Akira Nakamura; Kensuke Harada; Daisuke Sato 002; Dragomir N. Nenchev (RO-MAN, 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 002; Dragomir N. Nenchev (IEEE Trans. Syst. Man Cybern. Syst., 2014)

On some practical reactionless motion tasks with a free-floating space robot. - Hiroki Sone; Dragomir N. Nenchev (ICRA, 2015)

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)

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)

Balance Stabilization with Angular Momentum Damping Derived from the Reaction Null-Space. - Ryotaro Hinata; Dragomir N. Nenchev (Humanoids, 2018)

The Momentum Equilibrium Principle: Foot Contact Stabilization with Relative Angular Momentum/Velocity. - Dragomir N. Nenchev (Humanoids, 2018)

The DCM generalized inverse: efficient body-wrench distribution in multi-contact balance control. - Masahiro Hosokawa; Dragomir N. Nenchev; Takahide Hamano (Adv. Robotics, 2018)

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 (ICRA, 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)

Hardware-In-the-Loop-Simulation of a Planar Manipulator with an Elastic Joint. - Satoko Abiko; Tetsuya Kimura; Yusuke Noda; Teppei Tsujita; Daisuke Sato 002; Dragomir N. Nenchev (AIM, 2020)

HILS Using a Minimum Number of Joint Module Testbeds for Analyzing a Multi-DoF Manipulator. - Yusuke Noda; Teppei Tsujita; Satoko Abiko; Daisuke Sato 002; Dragomir N. Nenchev (AIM, 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)

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)

Motion Generation and Control of Acrobatic Motion Synergies Emerging From the Momentum Equilibrium Principle. - Ryo Iizuka; Dragomir N. Nenchev; Daisuke Sato 002 (HUMANOIDS, 2021)

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)