Director / Desno

Former directors


Appointments at the J. Stefan Institute

  • Head of Robotics Laboratory (1985-1994)
    Head of Automatics, Biocybernetics and Robotics (1994-2005)
    Director of Institute (2005-)

Positions of trust at the J. Stefan Institute

  • Member of Council (1989)
    Chairman of Council (1990)
    Member of Board of Governors (1992-1994)
    Deputy President of Scientific Council (1997-2005)
    Member of Scientific Council (2005-)

Positions of trust - national

  • National Coordinator Production Technologies and Systems
    Chairman of Scientific Research Council for Engineering Sciences
    Member of National Research Council
    Member of Council »Science for Peace«
    Member National Council for Higher Education
    Member of Development Advisory Council to the Prime Minister, Government of Slovenia

Positions of trust - international

  • Member of Search Committee for the President of European Research Council ERC
    Member of Executive Committee of the International Federation for the Theory of Machines and Mechanisms IFToMM
    Member of Board of the European Robotics Network - EURON
    Member of Executive Board of the European Association of Research and Technology Organizations EARTO


  • Faculty of Electrical Engineering, University of Ljubljana
    University of Nova Gorica
    J. Stefan International Postgraduate School
    University of Bologna, Italy

Visiting professor

  • University of Ferrara, Italy
    University of Hull, GB
    University of Notre Dame, USA
    Invited seminars at more than 20 universities around the world

Membership in academies

  • Regular Member of Slovenian Academy of Engineering, (President 2011/12, Vicepresident 2010/11, 2012/13)
    Corresponding Member of Accademia delle Scienze di Bologna, Italy

Honorary awards and titles

  • Medal of Work with Silver Wreath
    Cavaliere Ufficiale nell'Ordine al merito della Repubblica Italiana


  • Basic research interests of J. Lenarčič are in robotics, robot kinematics, biorobotics and humanoid robotics. His contributions are in the area of modeling and simulation of robots, mathematical evaluation and optimization of robot mechanisms, modeling of human upper extremity and control of redundant robots. He is member of editorial boards in a number of international journals (currently is Associated Editor in Theory of Machines and Mechanisms) and served as guest editor in special issues. He edited a series of international books on Advances in Robot Kinematics and contributed in international encyclopedias. He is co-author of books "Robot Mechanisms" and "Robotics", both published in Slovenian and in English by Springer.



  • - T. Bajd, M. Mihelj, J. Lenarčič, A. Stanovnik and M. Munih, Robotics. Springer, 2010.
    - J. Lenarčič, M. M. Stanišić and T. Bajd, Robot mechanisms. Springer, 2012.
    - M. Mihelj, T. Bajd, A. Ude, J. Lenarčič, A. Stanovnik, M. Munih, J. Rejc and S. Šlajpah, Robot mechanisms. Springer, 2018.

Edited books

  • - J. Lenarčič and S. Stifter (Eds.), Advances in robot kinematics with emphasis on symbolic computation. Springer, 1991
    - J. Lenarčič and B. Ravani (Eds.), Advances in robot kinematics and computational geometry. Kluwer, 1994
    - J. Lenarčič and V. Parenti-Castelli (Eds.), Recent advances in robot kinematics. Kluwer, 1996
    - J. Lenarčič and M. Husty (Eds.), Advances in robot kinematics: analysis and control. Kluwer, 1998
    - J. Lenarčič and M.M. Stanisic (Eds.), Advances in robot kinematics. Kluwer, 2000
    - J. Lenarčič and F. Thomas (Eds.), Advances in robot kinematics: theory and applications. Kluwer, 2002
    - J. Lenarčič and C. Galletti (Eds.), On advances in robot kinematics. Kluwer, 2004.
    - J. Lenarčič and B. Roth (Eds.), Advances in robot kinematics - Mechanisms and motion. Springer, 2006.
    - J. Lenarčič and P. Wenger (Eds.), Advances in robot kinematics - Analysis and design. Springer, 2008.
    - J. Lenarčič and M. M. Stanisic (Eds.), Advances in robot kinematics - Motion in Man and machine. Springer, 2010.
    - J. Lenarčič and M. Husty (Eds.), Latest advances in robot kinematics. Springer, 2012.
    - J. Lenarčič and O. Khatib (Eds.), Advances in robot kinematics. Springer, 2014.
    - J. Lenarčič and J.-P. Merlet (Eds.), Advances in robot kinematics. Springer, 2016.
    - J. Lenarčič and O. V. Parenti-Castelli (Eds.), Advances in robot kinematics. Springer, 2018.

Recent journal publications

  • - J. Lenarčič and V. Parenti-Castelli, A method for determining movements of a deformable body from spatial coordinates of markers. Journal of Robotic Systems, 2001, vol. 18, pp. 731-736
    - J. Lenarčič and M. M. Stanisic, Humanoid shoulder complex and the humeral pointing kinematics. IEEE Trans. Robot. Autom., 2003, vol. 19, pp. 499-507
    - J. Babič and J. Lenarčič, In vivo determination of triceps surae muscle-tendon complex viscoelastic properties. Eur. j. appl. physiol. occup. physiol., 2004, vol. 92, pp. 477-484
    - N. Klopčar and J. Lenarčič, Kinematic model for determination of human arm reachable workspace. Meccanica, 2005, vol. 40, pp. 203-219.
    - N. Klopčar, M. Tomšič and J. Lenarčič, A kinematic model of the shoulder complex to evaluate the arm-reachable workspace. Journal of Biomechanics, 2005.
    - J. Lenarčič and N. Klopčar, Positional kinematics of humanoid arms. Robotica, 2005, vol. 24, pp. 105-112.
    - J. Babič and J. Lenarčič, Optimization of biarticular gastrocnemius muscle in humanoid jumping robot simulation. International journal of humanoid robotics, 2006, vol. 3, pp. 219-234.
    - N. Klopčar and J. Lenarčič, Bilateral and unilateral shoulder girdle kinematics during humeral elevation. Clinical biomechanics, vol. 21, suppl. 1, 2006, pp. S20-S26. - J. Babič and J. Lenarčič, Optimization of biarticular gastrocnemius muscle in humanoid jumping robot simulation. International journal of humanoid robotics , vol. 3, 2007, pp. 219-234.
    - N. Klopčar, M. Tomšič and J. Lenarčič, A kinematic model of the shoulder complex to evaluate the arm-reachable workspace. J. Biomech., vol. 40, 2007, pp. 86-91.
    - A. Gams, L. Žlajpah and J. Lenarčič, Imitating human acceleration of a gyroscopic device. Robotica, vol. 25, 2007, pp. 501-509.
    - A. Gams, A.J. Ijspeert, S. Schaal and J. Lenarčič, On-line learning and modulation of periodic movements with nonlinear dynamical systems. Auton. robots. , vol. 27, 2009, pp. 3-23.
    - J. Babič, L. Bokman, D. Omrčen, J. Lenarčič and F.C. Park, A biarticulated robotic leg for jumping movements : theory and experiments. J. of mechanisms and robotics, vol. 1, 2009, pp. 1-9.
    - M. Babič, R. Vertechy, G. Berselli, J. Lenarčič, V. Parenti-Castelli and G. Vassura, An electronic driver for improving the open and closed loop electro-mechanical response of dielectric elastomer actuators. Mechatronics, vol. 20, 2010, pp. 201-212.