### A voir également

### Short bio

**Title**: Associate Researcher

**No longer in the unit**

PhD in Theoretical Mechanics, Moscow State University, 2007

MS in Applied Mathematics & Mechanics, Moscow State University, 2003

__Biography__

**Since** **January 2011**

*Occupation:* post doctoral researcher at Institute for Intellectual Systems and Robotics, France

*Project:* haptic shape perception

**July 2009** **-** December** 2010**

*Occupation:* post doctoral researcher at Institute for Intellectual Systems and Robotics, France

*Project:* control of fast moving vehicle on natural terrain

**October 2008 - June 2009**

*Occupation:* senior researcher at Institute of Mechanics, Moscow State University , Russia

*Projects:* mathematical modelling of human locomotion

**September 2008 - April 2009**

*Occupation:* leading control engineer at Movicom Ltd, Russia

*Projects:* RobyCam - cable system for aerial displacement of tv/cinema camera; RobyHead - mounting system for stabilization of tv/cinema camera orientation.

**September 2007 - August 2008**

*Occupation:* post-doctoral researcher at Pennsylvania State University, USA

*Projects:* inverse optimization problems; applications to experimental analysis of human grasping

**November 2003 - April 2007**

*Occupation:* phd-student at Moscow State University, Russia and College de France, France

*Projects:* mathematical modelling and experimental studies in human postural control; experimental studies in human locomotion

**September 1998 - July 2003**

*Occupation:* undergraduate student at Moscow State University, Moscow.

__Research Interests__

- Robotics
- Human Movement Science
- Control Theory
- Inverse Optimization

__Publications__

**Journal papers**

*J.Martin, A.V. Terekhov, M.L. Latash, V.M. Zatsiorsky.* Comparison of inter-finger connection matrix computation techniques. (in press) Journal of Applied Biomechanics.

*Y. Xu, A.V. Terekhov, M.L. Latash, V.M. Zatsiorsky.* Forces and moments generated by the human arm: variability and control. (in press) Experimental Brain Research

* A.V. Terekhov, V. Hayward.* Minimal Adhesion Surface Area In Tangentially Loaded Digital Contacts. (2011) Journal of Biomechanics, 44(13): 2508-2510

*X. Niu, A.V. Terekhov, M.L. Latash, V.M. Zatsiorsky.* Reconstruction of the unknown optimization cost functions from experimental recordings during static multi-finger prehension. (2012) Motor Control, 16(2): 195-228

* A.V. Terekhov and V.M. Zatsiorsky*. Analytical and numerical analysis of inverse optimization problems: conditions of uniqueness and computational methods. (2011), Biological Cybernetics, 104(1): 75-93

*E.Yu. Shapkova, ***A.V. Terekhov***, M.L. Latash.* Arm motion coupling during locomotion-like actions: An experimental study and a dynamic model. (2011) Motor Control 15: 206-220

**A.V. Terekhov***, Y.B. Pesin, X. Niu, M.L. Latash, V.M. Zatsiorsky.* An analytical approach to the problem of inverse optimization: An application to human prehension. (2010) Journal of Mathematical Biology, 61(3) 423-453

**A.V. Terekhov,***Yu.S. Levik, I.A. Solopova.*Mechanisms of reference posture correction in the system of upright posture control. (2007) Human Physiology 33(3) 289-295

*H. Hicheur, ***A.V. Terekhov,*** A. Berthoz.* Inter segmental coordination during human locomotion: does planar covariation of elevation angles really reflect central constraints? (2006) J Neurophysiol. 96(3):1406-1419

* A.V. Terekhov.* Adaptive control in the system of the vertical posture regulation. (2006) Control Systems and Information Technologies, 1.2(23):287-290 (in Russian)

* A.V. Terekhov.* Mathematical modeling of the vertical posture stabilization process in the case of slow support inclination. (2006) Information technologies in modeling and control, 9(34):1111-1117 (in Russian)

**Book chapters**

*A.V. Lensky, Yu.M. Okunev, ***A.V. Terekhov,*** V.B. Pakhomov, E.V. Elkin, A.S. Nikulin, O.G. Gevorkian, D.N. Zhikharev, P.A. Konstantinov, O.A. Shpanko.* Brand-new laboratory practicums in mechanical and control engineering. In: Innovative solutions in space mechanics, physics, astrophysics and medicine. (in Russian)

**Preprints**

*I.V. Novozhilov, ***A.V. Terekhov,*** A.V. Zabelin, Yu.S. Levik, V.Yu. Shlikov, O.V. Kazennikov.* Threelink mathematical model for the problem of human vertical posture stabilization. (2005) In Mathematical modeling of human movements in the norm and at some kinds of pathology. Eds: I.V. Novozhilov, P. A. Kruchinin. Preprint of Moscow State University, pp 7-20. (In Russian)

* A.V. Terekhov.* Mathematical model for the human vertical posture stabilization process in case of slow support inclinations. (2005) In Mathematical modeling of human movements in the norm and at some kinds of pathology. Eds: I.V. Novozhilov, P. A. Kruchinin. Preprint of Moscow State University, pp 21-27. (In Russian)

**Thesis of conferences**

* A.V. Terekhov, V. Hayward.* The minimal adhesion area in fingertip-surface interaction. (2011) Progress in Motor Control, Cincinnati, USA.

* A.V. Terekhov, X. Niu, M. Latash, V.M. Zatsiorsky.* The same cost function explains normal force distribution in four- and three-fingers grasps. (2011) Progress in Motor Control, Cincinnati, USA.

*E. Lucet, C. Grand, ***A.V. Terekhov***, P. Bidaud. *Experimental study of a fast mobile robot performing a drift maneuver. (2010) CLAWAR - Thirteenth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machine (in press)

**A.V. Terekhov***, J.-B. Mouret, C. Grand.* Stochastic optimization of a neural network-based controller for aggressive maneuvers on loose surface. (2010) IROS - IEEE/RSJ International Conference on Intelligent Robots and Systems (in press)

**A.V. Terekhov***, J.-B. Mouret, C. Grand.* Stochastic Multi-objective optimization for aggressive maneuver trajectory planning on loose surface. (2010) 7th Symposium on Intelligent Autonomous Vehicles, IFAC (in press)

*L. Rigoux, O. Sigaud, A.V. Terekhov, and E. Guigon.* Movement duration as an emergent property of reward directed motor control. (2010) In Proceedings of the Annual Symposium Advances in Computational Motor Control.

*X. Niu, ***A.V. Terekhov,*** M.L. Latash, V.M. Zatsiorsky.* Planarity of force distribution in a 4-finger force space during multi-finger prehension and its implication for inverse optimization. (2010) The 34^{th} Annual Meeting of the American Society of Biomechanics (in press)

*X. Niu, ***A.V. Terekhov,*** M.L. Latash, V.M. Zatsiorsky.* Analytical inverse optimization of finger forces in multi-finger prehension. (2010) 10th Annual New Technology in Upper Extremity Surgery: The Cutting Edge & 7th Triennial International Hand and Wrist Biomechanics Symposium (in press)

*X. Niu, ***A.V. Terekhov***, Y.B. Pesin, M.L. Latash, V.M. Zatsiorsky. *Inverse optimization of digit forces in multi-finger prehension based on analytical determination of the objective function. (2009) Proceedings of the Annual Meeting of American Society of Biomechanics.

*E.Y. Shapkova, ***A.V. Terekhov***, M.L. Latash. *Arm motion coupling during locomotion-like actions: an experimental study and a dynamic model. (2009) Proceedings of the Annual Meeting of American Society of Biomechanics.

**A.V. Terekhov,*** V.B. Pakhomov, O.G. Gevorkian, E.V. Elkin, A.M. Popov, M.N. Nasedkin, S.V. Astakhov, D.S. Astakhov.* RobyCam: gyrostabilized cable system for cinema and TV industry. (2009) Perspective Systems and Control Problems 2009. (in Russian)

*V.B. Pakhomov, E.V. Elkin, ***A.V. Terekhov***, A.S. Nikulin, O.G. Gevorkian, D.N. Zhikharev, P.A. Konstantinov, O.A. Shpankova, A.V. Lensky.* Robotic system of minirobots. RoboSoccer. (2008) Perspective Systems and Control Problems 2008. (in Russian)

*A. Berthoz, H. Hicheur, ***A.V. Terekhov***, Q.C. Pham, G. Arechavaleta, J-P. Laumond.* Walking on the moon (2007) In International Conference on Exploration and Utilization of the Moon.

*V.B. Pakhomov, ***A.V. Terekhov***.* Actual problems of mobile mini-robots control. RoboSoccer. Robotic system of minirobots. RoboSoccer. (2007) Perspective Systems and Control Problems 2007. (in Russian)

*V.A. Selionov, ** A.V. Terekhov.* Involuntary locomotion in healthy humans. (2007) In European Workshop on Movement Science 2007

* A.V. Terekhov.* Simplifying biomechanical models in motor control: what it can lead to? Inverted pendulum for quiet standing. (2007) In Northeast American Society of Biomechanics Conference 2007

**A.V. Terekhov,*** V. Yu. Shlykov.* Mechanisms of undisturbed human posture stabilization. (2006) In Biomechanical and Neural Network Models of Motor Control and Learning. pp 12-13 (in Russian)

*V.A. Selionov, ** A.V. Terekhov.* Involuntary air-stepping of the leg in response to different means of stimulation in healthy subjects. (2006) In International Conference on Biomechanics, Nizhni Novgorod, pp. 197-199. (in Russian)

**A.V. Terekhov,*** Yu. S. Levik.* The forming of the reference vertical in the orthograde posture stabilization task. (2005) In Progress in Motor Control V. #4-20

*A.V. Zabelin, I.V. Novozhilov, ** A.V. Terekhov.* The problem of human vertical posture stabilization. (2005) In Proceedings of Lomonosov Readings. (In Russian)

* A. V. Terekhov.* Concerning the nature of slow component in postural sway. (2005) In European Workshop On Movement Science p. 123.

* A.V. Terekhov.* Orthograde posture stabilization as a superposition of biarticular muscles-based eigen modes (synergies). (2004) In Current Research in Motor Control II, Katowice, pp. 223-230.

**A.V. Terekhov,*** A.V. Zabelin.* Concerning the selection of a model for an anthropomorphic multisigmental system. The problem of posture stabilization. (2004) In International Conference on Biomechanics, Nizhni Novgorod, pp. 131. (In Russian)

* A.V. Terekhov.* Concerning the problem of orthograde posture stabilization (2004) In First International Scientific Teleconference "New Technology in Medicine", Saint-Petersburg, Russia, pp 123-125. (In Russian)