Salman Faraji

About

Salman Faraji is a leading researcher in energy-efficient and agile locomotion for humanoid and legged robots. His work addresses the critical gap between the energy economy of biological systems and today’s robots, a challenge he systematically tackles through innovative control frameworks. Faraji’s major contributions include pioneering model predictive control for versatile 3D walking, demonstrated on the Atlas humanoid robot (56 citations), and developing robust push-recovery strategies using time-projection control on the COMAN robot (16 citations). He also introduced a novel footstep predictive approach for steering and agile biped walking (37 citations), and a singularity-tolerant inverse kinematics method that reduces energy consumption (12 citations). With over 270 total citations across his top papers, Faraji’s impact is evident in his practical focus on torque-controlled robots, sensor fusion, and whole-body optimization. His work on compliant hopping in rough terrain (11 citations) and adaptive grasping with dynamical systems (10 citations) further showcases his versatility. Faraji’s research is essential reading for anyone interested in bridging the gap between theoretical control and real-world robotic performance.

Research Focus

Key Achievements

Top Papers

1. 1
   An Overview on Principles for Energy Efficient Robot Locomotion

   116 citations · 2018
2. 2
   Versatile and robust 3D walking with a simulated humanoid robot (Atlas): A model predictive control approach

   56 citations · 2014
3. 3
   Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach

   37 citations · 2014
4. 4
   Practical considerations in using inverse dynamics on a humanoid robot: Torque tracking, sensor fusion and Cartesian control laws

   19 citations · 2015
5. 5
   Bipedal walking and push recovery with a stepping strategy based on time-projection control

   16 citations · 2019
6. 6
   Singularity-Tolerant Inverse Kinematics for Bipedal Robots: An Efficient Use of Computational Power to Reduce Energy Consumption

   12 citations · 2017
7. 7
   Compliant and adaptive control of a planar monopod hopper in rough terrain

   11 citations · 2013
8. 8
   A Dynamical System Approach for Adaptive Grasping, Navigation and Co-Manipulation with Humanoid Robots

   10 citations · 2020
9. 9
   Designing a virtual whole body tactile sensor suit for a simulated humanoid robot using inverse dynamics

   6 citations · 2016
10. 10
    Fast Multi-Contact Whole-Body Motion Planning with Limb Dynamics

    5 citations · 2018

Key Collaborators

Contact & Links