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

S. Faraji; H. Razavi; A. J. Ijspeert : Bipedal walking and push recovery with a stepping strategy based on time-projection control; International Journal Of Robotics Research. 2019-04-01. DOI : 10.1177/0278364919835606.
S. Faraji; P. Müllhaupt; A. Ijspeert : Imprecise dynamic walking with time-projection control; arxiv. 2018-11-12.
S. Faraji; A. R. Wu; A. J. Ijspeert : A simple model of mechanical effects to estimate metabolic cost of human walking; Scientific Reports. 2018-07-20. DOI : 10.1038/s41598-018-29429-z.
S. Faraji; H. Razavi; A. Ijspeert : Push recovery with stepping strategy based on time-projection control; Arxiv. 2018.
S. Faraji; P. Müllhaupt; A. Ijspeert : Time-projection control to recover inter-sample disturbances, application to bipedal walking control; Arxiv. 2018.
S. Faraji; A. Ijspeert : Modeling robot geometries like molecules, application to fast multi-contact posture planning for humanoids; IEEE Robotics and Automation Letters. 2018. DOI : 10.1109/LRA.2017.2739103.
S. Faraji; A. Ijspeert : Singularity-tolerant inverse kinematics for bipedal robots: An efficient use of computational power to reduce energy consumption; IEEE Robotics and Automation Letters. 2017. DOI : 10.1109/LRA.2017.2661810.
S. Faraji; A. Ijspeert : 3LP: a linear 3D-walking model including torso and swing dynamics; The International Journal of Robotics Research. 2017. DOI : 10.1177/0278364917708248.
S. Haghzad; S. Bagheri; S. Faraji : Finding Proper Configurations for Modular Robots by Using Genetic Algorithm on Different Terrains; International Journal of Materials, Mechanics and Manufacturing. 2013. DOI : 10.7763/IJMMM.2013.V1.78.
S. Faraji; M. S. Tavazoei : The effect of fractionality nature in differences between computer simulation and experimental results of a chaotic circuit; Central European Journal Of Physics. 2013. DOI : 10.2478/s11534-013-0255-8.

Conference Papers

S. Faraji; A. Ijspeert : Scalable closed-form trajectories for periodic and non-periodic human-like walking. 2019. International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 19-24, 2019.
J. Arreguit; S. Faraji; A. J. Ijspeert : Fast multi-contact whole-body motion planning with limb dynamics. 2018-01-01. 18th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Beijing, PEOPLES R CHINA, Nov 06-09, 2018. p. 25-32.
S. Faraji; A. Ijspeert : Designing a virtual whole body tactile sensor suit for a simulated humanoid robot using inverse dynamics. 2016. Intelligent Robots and Systems (IROS), Daejon, South Korea, October 9-14. p. 5564-5571. DOI : 10.1109/IROS.2016.7759818.
S. Faraji; L. Colasanto; A. Ijspeert : Practical considerations in using inverse dynamics on a humanoid robot: torque tracking, sensor fusion and Cartesian control laws. 2015. IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, September 28 - October 02. DOI : 10.1109/IROS.2015.7353584.
S. Faraji; S. Pouya; A. Ijspeert : Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach. 2014. Robotics Science and Systems (RSS), Berkeley, CA, USA, July 12–16, 2014. DOI : 10.15607/RSS.2014.X.028.
S. Faraji; S. Pouya; C. G. Atkeson; A. J. Ijspeert : Versatile and robust 3D walking with a simulated humanoid robot (Atlas): A model predictive control approach. 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.
S. Faraji; S. Pouya; R. Moeckel; A. J. Ijspeert : Compliant and adaptive control of a planar monopod hopper in rough terrain. 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

N. Kashiri; A. Abate; S. J. Abram; A. Albu-Schaffer; P. J. Clary et al. : An Overview on Principles for Energy Efficient Robot Locomotion; Frontiers In Robotics And Ai. 2018-12-11. DOI : 10.3389/frobt.2018.00129.

Theses

S. Faraji : Towards Robust Bipedal Locomotion. Lausanne, EPFL, 2018. DOI : 10.5075/epfl-thesis-8760.

Posters

S. Faraji; A. Ijspeert : A singularity-tolerant inverse kinematics including joint position and velocity limitations ; Dynamic Walking, Mariehamn, Finland, June 4-9, 2017.
S. Faraji; A. Ijspeert : A virtual tactile sensing suit for humanoids based on dynamic equations and internal sensors ; Dynamic Walking, Holly, Michigan, USA, June 4-7, 2016.
S. Faraji; A. Ijspeert : Time-Projection control on 3LP, a simple idea to deal with intermittent pushes online ; Dynamic Walking, Holly, Michigan, USA, June 4-7, 2016.
S. Faraji; A. Ijspeert : 3LP: A linear model of locomotion including falling, swing and torso dynamics ; Dynamic Walking, Holly, Michigan, USA, June 4-7, 2016.
S. Faraji; S. Pouya; A. Ijspeert : Robust 3D Walking Using Inverse Dynamics And Footstep Planning With Model Predictive Control ; 9th Dynamic Walking Conference (DWC 2014), ETH Zurich, Switzerland, June 10-13, 2014.
S. Pouya; S. Faraji; R. Möckel; A. Ijspeert : Dynamics Modeling and Control Architecture for Efficient, Manoeuvrable and Robust Monoped Hopping over Rough Terrain ; 8th Dynamic Walking Conference (DWC 2013), Pittsburgh, USA, June 2013.

Student Projects

S. Faraji : A Model-Based Control Approach for Locomotion of Biped Robots ; 2013.