Publications de Farshad Khadivar

Enhancing Dexterity in Confined Spaces: Real-Time Motion Planning for Multifingered In-Hand Manipulation

Aude Billard, Kunpeng Yao, Xiao Gao, Farshad Khadivar

Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for all fingers must ...

2024

Self-Correcting Quadratic Programming-Based Robot Control

Aude Billard, Farshad Khadivar, Konstantinos Chatzilygeroudis

Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...

2023

Online active and dynamic object shape exploration with a multi-fingered robotic hand

Aude Billard, Kunpeng Yao, Xiao Gao, Farshad Khadivar

The sense of touch can provide a robot with a wealth of information about the contact region when interacting with an unknown environment. Nevertheless, utilizing touch information to plan exploration paths and adjust robot posture to improve task efficien ...

Elsevier2023

Adaptive Fingers Coordination for Robust Grasp and In-Hand Manipulation Under Disturbances and Unknown Dynamics

Aude Billard, Farshad Khadivar

We present a control framework for achieving a robust object grasp and manipulation in hand. In-hand manipulation remains a demanding task as the object is never stable and task success relies on carefully synchronizing the fingers' dynamics. Indeed, finge ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Advancing the Adaptability of Compliant Robot Controllers for Exploration, Interaction, and Manipulation

Farshad Khadivar

As technology continues to evolve, robots are becoming an intrinsic part of our lives. While robots surpass human capabilities in precision and speed, they are far from matching humans' ability to adapt to unexpected changes. Humans can quickly and complia ...

EPFL2022

EMG-driven shared human-robot compliant control for in-hand object manipulation in hand prostheses

Aude Billard, Silvestro Micera, Vincent Alexandre Mendez, Iason Batzianoulis, Farshad Khadivar

Objective. The limited functionality of hand prostheses remains one of the main reasons behind the lack of its wide adoption by amputees. Indeed, while commercial prostheses can perform a reasonable number of grasps, they are often inadequate for manipulat ...

IOP Publishing Ltd2022

Learning dynamical systems with bifurcations

Aude Billard, Ilaria Lauzana, Farshad Khadivar

Trajectory planning through dynamical systems (DS) provides robust control for robots and has found numerous applications from locomotion to manipulation. However, to date, DS for controlling rhythmic patterns are distinct from DS used to control point to ...

Elsevier2021

Efficient Configuration Exploration in Inverse Dynamics Acquisition of Robotic Manipulators

Aude Billard, Walid Amanhoud, Sthithpragya Gupta, Farshad Khadivar

The inverse dynamics of a robotic manipulator is instrumental in precise robot control and manipulation. However, acquiring such a model is challenging, not only due to unmodelled non-linearities such as joint friction, but also from a machine learning per ...

IEEE2021

Benchmark for Bimanual Robotic Manipulation of Semi-deformable Objects

Aude Billard, Kunpeng Yao, Bernardo Fichera, Farshad Khadivar, Konstantinos Chatzilygeroudis, Ilaria Lauzana, Fanjun Bu

We propose a new benchmarking protocol to evaluate algorithms for bimanual robotic manipulation semi-deformable objects. The benchmark is inspired from two real-world applications: (a) watchmaking craftsmanship, and (b) belt assembly in automobile engines. ...

2020