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. 

Please find extended videos and codes here.

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.

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.

Imprecise dynamic walking with time-projection control

S. Faraji; P. Müllhaupt; A. Ijspeert 

arxiv. 2018-11-12. 

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. DOI : 10.1038/s41598-018-29429-z.

Push recovery with stepping strategy based on time-projection control

S. Faraji; H. Razavi; A. Ijspeert 

Arxiv. 2018. 

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

S. Faraji; P. Müllhaupt; A. Ijspeert 

Arxiv. 2018. 

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.

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.

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.

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.

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.

Conference Papers

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.

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

S. Faraji; A. Ijspeert 

2019. International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 19-24, 2019.

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.

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.

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.

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.

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.

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.

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.

Theses

Towards Robust Bipedal Locomotion

S. Faraji / A. Ijspeert (Dir.)  

Lausanne, EPFL, 2018. 

Posters

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

S. Faraji; A. Ijspeert 

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

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.

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.

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.

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.

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.

Student Projects

A Model-Based Control Approach for Locomotion of Biped Robots

S. Faraji 

2013.