Salman Faraji

Salman received bachelor in digital electronics from Sharif University of Technology, Iran. He continued master studies in robotics in EPFL and now he is a PhD student at Biorob. He is interested in bipedal locomotion and classical control approaches. His interest topics include inverse dynamics, model predictive control, optimization.

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Publications:

Journal Articles

From standing balance to walking: A single control structure for a continuum of gaits

H. Razavi; S. Faraji; A. Ijspeert 

International Journal of Robotics Research. 2019-10-16.  p. 0278364919875205. DOI : 10.1177/0278364919875205.

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Bipedal walking and push recovery with a stepping strategy based on time-projection control

S. Faraji; H. Razavi; A. J. Ijspeert 

International Journal Of Robotics Research. 2019-04-01. Vol. 38, num. 5, p. 587-611. DOI : 10.1177/0278364919835606.

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Imprecise dynamic walking with time-projection control

S. Faraji; P. Müllhaupt; A. Ijspeert 

arXiv. 2018-11-12. 

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A simple model of mechanical effects to estimate metabolic cost of human walking

S. Faraji; A. R. Wu; A. J. Ijspeert 

Scientific Reports. 2018-07-20. Vol. 8, num. 1, p. 10998. DOI : 10.1038/s41598-018-29429-z.

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Push recovery with stepping strategy based on time-projection control

S. Faraji; H. Razavi; A. Ijspeert 

ArXiv. 2018. 

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Time-projection control to recover inter-sample disturbances, application to bipedal walking control

S. Faraji; P. Müllhaupt; A. Ijspeert 

ArXiv. 2018. 

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Modeling robot geometries like molecules, application to fast multi-contact posture planning for humanoids

S. Faraji; A. Ijspeert 

IEEE Robotics and Automation Letters. 2018. Vol. 3, num. 1, p. 289-296. DOI : 10.1109/LRA.2017.2739103.

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Singularity-tolerant inverse kinematics for bipedal robots: An efficient use of computational power to reduce energy consumption

S. Faraji; A. Ijspeert 

IEEE Robotics and Automation Letters. 2017. Vol. 2, num. 2, p. 1132-1139. DOI : 10.1109/LRA.2017.2661810.

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3LP: a linear 3D-walking model including torso and swing dynamics

S. Faraji; A. Ijspeert 

The International Journal of Robotics Research. 2017. Vol. 36, num. 4, p. 436-455. DOI : 10.1177/0278364917708248.

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Finding Proper Configurations for Modular Robots by Using Genetic Algorithm on Different Terrains

S. Haghzad; S. Bagheri; S. Faraji 

International Journal of Materials, Mechanics and Manufacturing. 2013. Vol. 1, num. 4, p. 360-365. DOI : 10.7763/IJMMM.2013.V1.78.

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The effect of fractionality nature in differences between computer simulation and experimental results of a chaotic circuit

S. Faraji; M. S. Tavazoei 

Central European Journal Of Physics. 2013. Vol. 11, num. 6, p. 836-844. DOI : 10.2478/s11534-013-0255-8.

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Conference Papers

A Dynamical System Approach for Adaptive Grasping, Navigation and Co-Manipulation with Humanoid Robots

N. B. Figueroa Fernandez; S. Faraji; M. Koptev; A. Billard 

2020-06-01. 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 31 May – 31 August 2020. p. 7676-7682. DOI : 10.1109/ICRA40945.2020.9197038.

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Scalable closed-form trajectories for periodic and non-periodic human-like walking

S. Faraji; A. J. Ijspeert 

2019-01-01. International Conference on Robotics and Automation (ICRA), Montreal, CANADA, May 20-24, 2019. p. 5295-5301. DOI : 10.1109/ICRA.2019.8793877.

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Fast multi-contact whole-body motion planning with limb dynamics

J. Arreguit; S. Faraji; A. J. Ijspeert 

2018-01-01. 18th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Beijing, PEOPLES R CHINA, Nov 06-09, 2018. p. 25-32. DOI : 10.1109/HUMANOIDS.2018.8624936.

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Designing a virtual whole body tactile sensor suit for a simulated humanoid robot using inverse dynamics

S. Faraji; A. Ijspeert 

2016. Intelligent Robots and Systems (IROS), Daejon, South Korea, October 9-14. p. 5564-5571. DOI : 10.1109/IROS.2016.7759818.

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Practical considerations in using inverse dynamics on a humanoid robot: torque tracking, sensor fusion and Cartesian control laws

S. Faraji; L. Colasanto; A. Ijspeert 

2015. IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, September 28 – October 02. DOI : 10.1109/IROS.2015.7353584.

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Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach

S. Faraji; S. Pouya; A. Ijspeert 

2014. Robotics Science and Systems (RSS), Berkeley, CA, USA, July 12–16, 2014. DOI : 10.15607/RSS.2014.X.028.

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Versatile and robust 3D walking with a simulated humanoid robot (Atlas): A model predictive control approach

S. Faraji; S. Pouya; C. G. Atkeson; A. J. Ijspeert 

2014. 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 31 May – 7 June 2014. p. 1943-1950. DOI : 10.1109/ICRA.2014.6907116.

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Compliant and adaptive control of a planar monopod hopper in rough terrain

S. Faraji; S. Pouya; R. Moeckel; A. J. Ijspeert 

2013. 2013 IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 6-10 05 2013. p. 4818-4825. DOI : 10.1109/ICRA.2013.6631264.

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Reviews

An Overview on Principles for Energy Efficient Robot Locomotion

N. Kashiri; A. Abate; S. J. Abram; A. Albu-Schaffer; P. J. Clary et al. 

Frontiers In Robotics And Ai. 2018-12-11. Vol. 5, p. 129. DOI : 10.3389/frobt.2018.00129.

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Theses

Towards Robust Bipedal Locomotion

S. Faraji / A. Ijspeert (Dir.)  

Lausanne, EPFL, 2018. 

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Posters

A singularity-tolerant inverse kinematics including joint position and velocity limitations

S. Faraji; A. Ijspeert 

Dynamic Walking, Mariehamn, Finland, June 4-9, 2017.

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A virtual tactile sensing suit for humanoids based on dynamic equations and internal sensors

S. Faraji; A. Ijspeert 

Dynamic Walking, Holly, Michigan, USA, June 4-7, 2016.

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Time-Projection control on 3LP, a simple idea to deal with intermittent pushes online

S. Faraji; A. Ijspeert 

Dynamic Walking, Holly, Michigan, USA, June 4-7, 2016.

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3LP: A linear model of locomotion including falling, swing and torso dynamics

S. Faraji; A. Ijspeert 

Dynamic Walking, Holly, Michigan, USA, June 4-7, 2016.

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Robust 3D Walking Using Inverse Dynamics And Footstep Planning With Model Predictive Control

S. Faraji; S. Pouya; A. Ijspeert 

9th Dynamic Walking Conference (DWC 2014), ETH Zurich, Switzerland, June 10-13, 2014.

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Dynamics Modeling and Control Architecture for Efficient, Manoeuvrable and Robust Monoped Hopping over Rough Terrain

S. Pouya; S. Faraji; R. Möckel; A. Ijspeert 

8th Dynamic Walking Conference (DWC 2013), Pittsburgh, USA, June 2013.

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Student Projects

A Model-Based Control Approach for Locomotion of Biped Robots

S. Faraji 

2013.

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