Milutin Nikolić

PhD in Robotics

Photo of Milutin

 Personal Information

Date of birth: 18.07.1984 
Place of birth:  Novi Sad, Serbia
Address:  Radnicka 19
21000, Novi Sad
E - mail:


Associate professor at the University of Novi Sad, at the Department for Robotics

Visiting Reasearcher at Human Motion Data Science Lab, University of Tokyo, Japan

My main interests and expertise are in:

  • Task-space control and task prioritization using quadratic programming
  • Kinematic redundancy resolution
  • Whole body motion synthesis
  • Walking pattern generation and disturbance rejection
  • Contact stability criteria
  • Robot kinematics and dynamics
  • Human motion recording and reconstruction

Work experience

  • Associate Professor at Faculty of Technical Sciences, University of Novi Sad (Assistant Professor, September 2015 - August 2020, Associate Professor 2020 - Now).
    • Responsibilities:
      • Giving lectures
      • Supervising bachelor and master thesis’s
      • Conducting research
    • Achievements:
      • Created a program for the course in Advanced robotics
      • Supervised more than 5 bachelor thesis
  • Project Assistant Professor at Nakamura - Yamamoto Lab, Department of Mechano-Informatics, Scool of Information Science and Technology, University of Tokyo, Japan (March 2020 - March 2021)
    • Responsibilities
      • Conducting research on topics of human motion recording and reconstruction
    • Achievements
      • Created real-time markerless motion capturing system licensed by the University of Tokyo
      • Created IMU-based motion capturing system licensed by the University of Tokyo
  • Freelance ABB robotics consultant for AWE-tuning, producer of high-performance exhaust systems for European high-performance cars (September 2016 – February 2017)
    • Responsibilities:
      • Deploy ABB industrial robot for plasma-cutting of the exhaust systems
      • Train the employees to program the robot in-house
    • Achievements:
      • Deployed the robot and created cutting programs for cutting of more than 20 exhaust parts.
      • Trained two employees to do the programming, during one-week course
  • Co-founder and lead developer of, an on-line marketplace for sharing agricultural equipment (May - November 2015)
    • Responsibilities:
      • Lead the product development
    • Achievements:
      • Successfully created and an on-line platform using Python and Django framework
  • Research fellow, School of Mechanical and Aerospace Engineering, Nanyang Technical University Singapore (June-September 2012)
    • Responsibilities:
      • Enable human-sized humanoid robot SMITH to walk on uneven terrain
    • Achievements:
      • Created stand-alone windows application for control of 26 DOF humanoid robot
      • Created motion planner for movement of the robot’s limbs
      • Created walking pattern generator that enabled robot to walk on even surfaces
  • Teaching assistant at Faculty of Technical Sciences, University of Novi Sad, (2008 - 2015)
    • Responsibilities:
      • Conducting a research
      • Giving lab and auditory practices
      • Attending and organizing promotional events
    • Achievements:
      • Participated in 4 research project
      • Published 3 book chapters, 3 journal papers, and over 25 conference papers
      • Gave lab and auditory practices in 6 different courses
      • Introduced a real industrial robot into the course in Industrial robotics
      • Created course exercises for 3 courses (Non-industrial robotics, Generative design, Industrial robotics)
      • Participated in more than 10 pop-science events
  • Electrician in Elektrotim, company which implements and designs transformers, industrial automation and electric installations Part-time (summer 2004 - 2007)
    • Responsibilities:
      • Wiring of the electrical cabinets
      • Installation of electrical wiring on-site
    • Achievements:
      • Learned to read electrical schematics and independently assemble electrical cabinets
      • Worked on over a half a dozen sites (Lafarge-BFC, Shopping mall Bazar Novi Sad… )


  • November. 2016 – Now. Self-Driving Car Nanodegree, Udacity online course. Finished first out of three terms. Program covers machine learning, deep learning, computer vision, sensor fusion, localization and path planning
  •  2015. PhD in Robotics from University of Novi Sad, Serbia, under advisory of prof. Branislav Borovac. Obtained PhD degree on May 15th 2015. Title of the PhD thesis: Modification of the motion of bipedal robot during walking and standing in the presence of disturbances and constraints
  •  2008. Mechatronics, Robotics and Automation from University of Novi Sad, Serbia. The program includes general engineering disciplines (mathematics, physics, and mechanics), robotics, automation and mechanism design, programming languages and algorithms, control theory and embedded systems. Awarded the honor as the best student of my class

Technical skills:

  • Solid coding skills in C/ C++
  • Intimate knowledge of Matlab, gained through daily usage.
  • Python and Django framework
  • Convex optimization
  • Vicon Tracker and Vicon Nexus, motion tracking software
  • Algorithms and data structures
  • Computer vision and OpenCV
  • Machine learning
  • Strong mathematical background, especially linear algebra and functional analysis

Significant Publications

Journal Papers

  1. Nikolić M.; Borovac, B.; Raković, M. Dynamic balance preservation and prevention of sliding for humanoid  robots  in  the  presence  of  multiple  spatial  contacts,   Multibody  System  Dynamics, ISSN: 1384-5640, pp. 1-22, DOI: 10.1007/s11044-017-9572-9, Springer Netherlands, 2017
  2. Jovanović M.;  Raković M.; Tepavčević; B.,  Borovac  B.,  Nikolić M.;  Robotic  fabrication  of freeform foam structures with quadrilateral and puzzle shaped panels, Automation in Construction ISSN: 0926-5805, Vol. 74, pp. 28-38, 2017
  3. Savić S.; Raković M.; Borovac  B.; Nikolić M.; Hybrid Motion Control  of Humanoid Robot  for Leader-Follower     Cooperative     Tasks,     Thermal     Science     ISSN:     0354-9836,     DOI: 10.2298/TSCI151005037S, Vinča Institute of Nuclear Sciences, Belgrade, 2016
  4. Raković, M., Borovac, B., Nikolić, M., Savić, S., Realization of Biped Walking in Unstructured Environment using Motion Primitives, IEEE Transactions on Robotics ISSN: 1552-3098, Vol. 30, No. 6, Str. 1318-1332, UDK DOI: 10.1109/TRO.2014.2344431, 2014
  5. Nikolić M., Borovac, B. Raković, M., Savić, S., A Further Generalization of Task-Oriented Control Trough Tasks Prioritization, International Journal of Humanoid Robotics, ISSN: 0219-8436, Vol. 10 No. 3, World Scientific, pp. 1-29¸ DOI:10.1142/S0219843613500126
  6. Borovac B., Nikolić M., Raković M.,: How to Compensate for the Disturbances that Jeopardize Dynamic Balance of a Humanoid Robot?, Int. Jour. of Humanoid Robotics, Vol. 8, No. 3, ISSN 0219-8436, 2011

 Invited and plenary talks

  1. Borovac B., Nikolić M., Prioritized control of humanoid robot in presence of multiple contacts, 5th International Congress of Serbian Society of Mechanic, Arandjelovac Serbia, June 14th-16th, 2015

 Conference papers

  1. Nikolić, B. Borovac, M. Raković, New approach for testing dynamic balance and motion feasibility of humanoids in presence of multiple spatial contacts. Workshop on Whole-Body Multi-Task Multi-Contact Humanoid Control IEEE-RAS Conference on Humanoid Robots (Humanoids 2015), Seoul, Korea. 2015
  2. Nikolić, S. Savić, B. Borovac, M. Raković, Task Prioritization Framework for Kinesthetic Teaching of a Free-Standing Humanoid Robot, IEEE 13th International Symposium on Intelligent Systems and Informatics (SISY), September 17-19, Subotica Serbia, 2015,
  3. Nikolić M. Borovac B., Raković M., Walking on Slippery Surfaces: Generalized Task-Prioritization Framework Approach , ROMANSY-CISM-IFToMM SYMPOSIUM on Theory and Practice of Robots and Manipulators , Vol. 22, pp. 189-196, Moscow, Russia, 2014
  4. Nikolic, M., Borovac, B., Rakovic, M. Simulation of foot-ground contact for bipedal robots. In Robotics in Alpe-Adria-Danube Region (RAAD), 23rd International Conference on (pp. 1-6). IEEE. Smolenice, Slovakia, 2014
  5. Oros, M., Nikolic M., Borovac B., and Jerkovic I. Children's preference of appearance and parents' attitudes towards assistive robots. In Humanoid Robots (Humanoids), 2014 14th IEEE-RAS International Conference on, pp. 360-365. IEEE, Madrid Spain, 2014

Research Projects

  • Scientific project funded by Scientific fund of R. of Serbia: „Design of Robot as Assistive Technology in Treatment of Children with Developmental Disorders”, Project No. III44008 financed by MNTR for period 2011 - 2015. Implementing stereo vision for the robot, and object recognition.
  • Scientific project funded by Scientific fund of R. of Serbia: „Research and development of ambient intelligent anthropomorphic service robots”, Project No. TR35003 financed by MNTR for period 2011 - 2015. Main responsibility in creating robot control software architecture.
  • Scientific project funded by Provintial Secretariat of Science and Technological Development of Vojvodina: „Development of anthropomorphic robotic platform for socially acceptable and adequate interactions in human working environment”, Project No. 114-451-2116/2011 Main responsibility in creating robot control software architecture.
  • Scientific project funded by Provintial Secretariat of Science and Technological Development of Vojvodina: „Biomechanical and biomimetical parametrization of trees: pilot study”


  • Regular reviewer for International Journal of Humanoid Robotics (World Scientific Press)
  • Several reviews for IEEE-RAS Transaction on Robotics (IEEE)
  • Several reviews for Robotics and Autonomous Systems (Elsevier)

Scholarly visits

  • Research fellow, University of Applied Sciences Technikum Wien, June - July 2010, funded by CEEPUS mobility programme. Research in the area of industrial robot programming and control
  • Research fellow, School of Mechanical and Aerospace Engineering, Nanyang Technical University Singapore July - August 2012. Research on walking humanoid robot SMITH under advisory of prof. Ming Xie. Successfully created robot control software and created walking pattern for walking on even surfaces.
  • Research fellow, University for Health Sciences, Medical Informatics and Technology, Austria, August - September 2015, funded by ERAWEB mobility programme. Research in the area of value of information analysis and applying statistical methods to medical decision-making. Working in group of prof. Uwe Siebert


  • Serbian (native) ;  English   (proficient)  ; German (B1, attended 4 weeks course at University of Stuttgart, visit funded by German Academic Exchange Service, DAAD)


  • EUROBOT Serbia, 2008 - 2015, Member of the national organizing committee and the refereeing team. Main referee in 2010-2013-
  • EUROBOT International, 2010 - 2013, Member of the refereeing team. Head referee of the EUROBOT 2012 grand finale
  • Fabrika Znanja, 2013 Andrićgrad (BiH), Podgorica (CG), Giving pop-science lectures on robotics to elementary and high school sudents
  • Noć Istraživača 2011 - 2014, Festival Nauke 2009 - 2015, Dani Budućnosti 2012, Sajam Tehnike 2012 - 2013, Exibiting robots created at Faculty of Technical sciences to open public

On-line Courses

  • Underactuated robotics, MIT
  • Machine Learning, Stanford University
  • Algorithms: Design and Analysis, Part 1, Stanford University
  • Algorithms: Design and Analysis, Part 2, Stanford University
  • Cryptography I, Stanford University
  • Game Theory, Stanford University & The University of British Columbia
  • R Programming, Johns Hopkins University
  • The Data Scientist’s Toolbox, Johns Hopkins University


  •  Long distance running, Triathlon, Snowboarding, Origami