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.


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


  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},

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


  • 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).