Publications de Salman Faraji | EPFL Graph Search

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

Aude Billard, Salman Faraji, Nadia Barbara Figueroa Fernandez, Mikhail Koptev

In this paper, we present an integrated approach that provides compliant control of an iCub humanoid robot and adaptive reaching, grasping, navigating and co-manipulating capabilities. We use state-dependent dynamical systems (DS) to (i) coordinate and dri ...

IEEE2020

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

Auke Ijspeert, Salman Faraji

We present a new framework to generate humanlike lower-limb trajectories in periodic and non-periodic walking. In our method, walking dynamics is encoded in 3LP, a linear simplified model composed of three pendulums to simulate falling, swing, and torso ba ...

IEEE2019

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

Auke Ijspeert, Salman Faraji, Seyed Hamed Razavi

In this paper, we present a simple control framework for online push recovery on biped robots with dynamic stepping properties. Owing to relatively heavy legs in our humanoid robot COMAN, we use a linear model called 3LP, which is composed of three pendulu ...

SAGE PUBLICATIONS LTD2019

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

Auke Ijspeert, Salman Faraji, Seyed Hamed Razavi

This article presents a control algorithm framework with which a bipedal robot can perform a variety of gaits by only modifying a small set of control parameters. The controller drives a number of variables, called non-emergent variables, to their desired ...

2019

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

Auke Ijspeert, Salman Faraji

Traditional joint-space models used to describe equations of motion for humanoid robots offer nice properties linked directly to the way these robots are built. However, from a computational point of view and convergence properties, these models are not th ...

Ieee-Inst Electrical Electronics Engineers Inc2018

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

Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Salman Faraji

We present a new method for multi-contact motion planning which efficiently encodes internal dynamics of the robot without needing to use full models. Our approach is based on a five-mass model which is formulated by Cartesian points instead of joint angle ...

IEEE2018

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

Auke Ijspeert, Salman Faraji, Amy Roning Wu

Since the advent of energy measurement devices, gait experiments have shown that energetic economy has a large influence on human walking behavior. However, few cost models have attempted to capture the major energy components under comprehensive walking c ...

Nature Research2018

Imprecise dynamic walking with time-projection control

Auke Ijspeert, Philippe Müllhaupt, Salman Faraji

We present a new walking foot-placement controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions of the 3LP mode ...

2018

An Overview on Principles for Energy Efficient Robot Locomotion

Salman Faraji

Despite enhancements in the development of robotic systems, the energy economy of today's robots lags far behind that of biological systems. This is in particular critical for untethered legged robot locomotion. To elucidate the current stage of energy eff ...

FRONTIERS MEDIA SA2018

Towards Robust Bipedal Locomotion : From Simple Models To Full-Body Compliance

Salman Faraji

Thanks to better actuator technologies and control algorithms, humanoid robots to date can perform a wide range of locomotion activities outside lab environments. These robots face various control challenges like high dimensionality, contact switches durin ...

EPFL2018