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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Journal Articles

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.
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.


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.


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


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.