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ORCIDMajid Khadiv
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2020 – today
- 2024
[j18]Ahmadreza Shahrokhshahi
, Majid Khadiv, Saeed Mansouri, Siamak Arzanpour, Edward J. Park:
Learning User-Specific Control Policies for Lower-Limb Exoskeletons Using Gaussian Process Regression. IEEE Access 12: 36874-36881 (2024)- [c15]Xun Pua, Majid Khadiv:
Safe Learning of Locomotion Skills from MPC. Humanoids 2024: 459-466 - [c14]Victor Dhédin, Adithya Kumar Chinnakkonda Ravi, Armand Jordana, Huaijiang Zhu, Avadesh Meduri, Ludovic Righetti, Bernhard Schölkopf, Majid Khadiv:
Diffusion-based learning of contact plans for agile locomotion. Humanoids 2024: 637-644 - [c13]Haizhou Zhao, Majid Khadiv:
Trajectory Optimization under Contact Timing Uncertainties. Humanoids 2024: 1064-1071 - [i37]Adithya Kumar Chinnakkonda Ravi, Victor Dhédin, Armand Jordana, Huaijiang Zhu, Avadesh Meduri, Ludovic Righetti, Bernhard Schölkopf, Majid Khadiv:
Efficient Search and Learning for Agile Locomotion on Stepping Stones. CoRR abs/2403.03639 (2024) - [i36]Sehoon Ha, Joonho Lee, Michiel van de Panne, Zhaoming Xie, Wenhao Yu, Majid Khadiv:
Learning-based legged locomotion; state of the art and future perspectives. CoRR abs/2406.01152 (2024) - [i35]Haizhou Zhao, Majid Khadiv:
Trajectory Optimization under Contact Timing Uncertainties. CoRR abs/2407.11478 (2024) - [i34]Xun Pua, Majid Khadiv:
Safe Learning of Locomotion Skills from MPC. CoRR abs/2407.11673 (2024) - [i33]Rikhat Akizhanov, Victor Dhédin, Majid Khadiv, Ivan Laptev:
Learning feasible transitions for efficient contact planning. CoRR abs/2407.11788 (2024) - [i32]Michal Ciebielski, Majid Khadiv:
Contact-conditioned learning of locomotion policies. CoRR abs/2408.00776 (2024) - [i31]Ilyass Taouil, Lorenzo Amatucci, Majid Khadiv, Angela Dai, Victor Barasuol, Giulio Turrisi, Claudio Semini:
Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning. CoRR abs/2408.07508 (2024) - [i30]Shahram Khorshidi, Murad Dawood, Benno Nederkorn, Maren Bennewitz, Majid Khadiv:
Physically-Consistent Parameter Identification of Robots in Contact. CoRR abs/2409.09850 (2024) - 2023
- [j17]Avadesh Meduri, Paarth Shah, Julian Viereck, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti:
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning. IEEE Trans. Robotics 39(2): 905-922 (2023) - [c12]Shahram Khorshidi, Ahmad Gazar, Nicholas Rotella, Maximilien Naveau, Ludovic Righetti, Maren Bennewitz, Majid Khadiv:
On the Use of Torque Measurement in Centroidal State Estimation. ICRA 2023: 9931-9937 - [c11]Victor Dhédin, Haolong Li, Shahram Khorshidi, Lukas Mack, Adithya Kumar Chinnakkonda Ravi, Avadesh Meduri, Paarth Shah, Felix Grimminger, Ludovic Righetti, Majid Khadiv, Joerg Stueckler:
Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion. ICRA 2023: 9966-9972 - [c10]Majid Khadiv, Avadesh Meduri, Huaijiang Zhu, Ludovic Righetti, Bernhard Schölkopf:
Learning Locomotion Skills from MPC in Sensor Space. L4DC 2023: 1218-1230 - [i29]Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti:
Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty. CoRR abs/2309.04469 (2023) - 2022
- [j16]Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti:
Model-free reinforcement learning for robust locomotion using demonstrations from trajectory optimization. Frontiers Robotics AI 9 (2022) - [j15]Ahmadreza Shahrokhshahi, Majid Khadiv, Ali Taherifar, Saeed Mansouri, Edward J. Park, Siamak Arzanpour:
Sample-Efficient Policy Adaptation for Exoskeletons Under Variations in the Users and the Environment. IEEE Robotics Autom. Lett. 7(4): 9020-9027 (2022) - [j14]Mohammad Hasan Yeganegi, Majid Khadiv, Andrea Del Prete, S. Ali A. Moosavian, Ludovic Righetti:
Robust Walking Based on MPC With Viability Guarantees. IEEE Trans. Robotics 38(4): 2389-2404 (2022) - [c9]Ahmad Gazar, Majid Khadiv, Sébastien Kleff, Andrea Del Prete, Ludovic Righetti:
Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots. ISRR 2022: 420-435 - [i28]Avadesh Meduri, Paarth Shah, Julian Viereck, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti:
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning. CoRR abs/2201.07601 (2022) - [i27]Shahram Khorshidi, Ahmad Gazar, Nicholas Rotella, Maximilien Naveau, Ludovic Righetti, Majid Khadiv:
On the Use of Torque Measurement in Centroidal State Estimation. CoRR abs/2202.12574 (2022) - [i26]Ahmad Gazar, Majid Khadiv, Sébastien Kleff, Andrea Del Prete, Ludovic Righetti:
Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots. CoRR abs/2205.13264 (2022) - [i25]Victor Dhédin, Haolong Li, Shahram Khorshidi, Lukas Mack, Adithya Kumar Chinnakkonda Ravi, Avadesh Meduri, Paarth Shah, Felix Grimminger, Ludovic Righetti, Majid Khadiv, Joerg Stueckler:
Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion. CoRR abs/2210.02127 (2022) - 2021
- [j13]Alonso Marco, Dominik Baumann, Majid Khadiv, Philipp Hennig, Ludovic Righetti, Sebastian Trimpe:
Robot Learning With Crash Constraints. IEEE Robotics Autom. Lett. 6(2): 1439-1446 (2021) - [j12]Elham Daneshmand, Majid Khadiv, Felix Grimminger, Ludovic Righetti:
Variable Horizon MPC With Swing Foot Dynamics for Bipedal Walking Control. IEEE Robotics Autom. Lett. 6(2): 2349-2356 (2021) - [j11]Bilal Hammoud, Majid Khadiv, Ludovic Righetti:
Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control. IEEE Robotics Autom. Lett. 6(3): 4766-4773 (2021) - [j10]Brahayam Ponton, Majid Khadiv, Avadesh Meduri, Ludovic Righetti:
Efficient Multicontact Pattern Generation With Sequential Convex Approximations of the Centroidal Dynamics. IEEE Trans. Robotics 37(5): 1661-1679 (2021) - [c8]Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti:
Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance. HUMANOIDS 2021: 61-68 - [c7]Mahrokh Ghoddousi Boroujeni, Elham Daneshmand, Ludovic Righetti, Majid Khadiv:
A unified framework for walking and running of bipedal robots. ICAR 2021: 396-403 - [c6]Avadesh Meduri, Majid Khadiv, Ludovic Righetti:
DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain. ICRA 2021: 2099-2105 - [c5]Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti:
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent. IROS 2021: 1658-1665 - [i24]Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti:
Model-free Reinforcement Learning for Robust Locomotion Using Trajectory Optimization for Exploration. CoRR abs/2107.06629 (2021) - [i23]Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti:
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent. CoRR abs/2108.01797 (2021) - [i22]Mahrokh Ghoddousi Boroujeni, Elham Daneshmand, Ludovic Righetti, Majid Khadiv:
A unified framework for walking and running of bipedal robots. CoRR abs/2110.09172 (2021) - 2020
- [j9]Felix Grimminger, Avadesh Meduri, Majid Khadiv, Julian Viereck, Manuel Wüthrich, Maximilien Naveau, Vincent Berenz, Steve Heim, Felix Widmaier, Thomas Flayols, Jonathan Fiene, Alexander Badri-Spröwitz, Ludovic Righetti:
An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research. IEEE Robotics Autom. Lett. 5(2): 3650-3657 (2020) - [j8]Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti:
Learning Variable Impedance Control for Contact Sensitive Tasks. IEEE Robotics Autom. Lett. 5(4): 6129-6136 (2020) - [j7]Majid Khadiv, Alexander Herzog, S. Ali A. Moosavian, Ludovic Righetti:
Walking Control Based on Step Timing Adaptation. IEEE Trans. Robotics 36(3): 629-643 (2020) - [c4]Manuel Wuthrich, Felix Widmaier, Felix Grimminger, Shruti Joshi, Vaibhav Agrawal, Bilal Hammoud, Majid Khadiv, Miroslav Bogdanovic, Vincent Berenz, Julian Viereck, Maximilien Naveau, Ludovic Righetti, Bernhard Schölkopf, Stefan Bauer:
TriFinger: An Open-Source Robot for Learning Dexterity. CoRL 2020: 1871-1882 - [i21]Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti:
Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance. CoRR abs/2005.07555 (2020) - [i20]Manuel Wüthrich, Felix Widmaier, Felix Grimminger, Joel Akpo, Shruti Joshi, Vaibhav Agrawal, Bilal Hammoud, Majid Khadiv, Miroslav Bogdanovic, Vincent Berenz, Julian Viereck, Maximilien Naveau, Ludovic Righetti, Bernhard Schölkopf, Stefan Bauer:
TriFinger: An Open-Source Robot for Learning Dexterity. CoRR abs/2008.03596 (2020) - [i19]Brahayam Ponton, Majid Khadiv, Avadesh Meduri, Ludovic Righetti:
Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics. CoRR abs/2010.01215 (2020) - [i18]Mohammad Hasan Yeganegi, Majid Khadiv, Andrea Del Prete, S. Ali A. Moosavian, Ludovic Righetti:
Robust walking based on MPC with viability-based feasibility guarantees. CoRR abs/2010.04514 (2020) - [i17]Elham Daneshmand, Majid Khadiv, Felix Grimminger, Ludovic Righetti:
Bipedal Walking Control using Variable Horizon MPC. CoRR abs/2010.08198 (2020) - [i16]Alonso Marco, Dominik Baumann, Majid Khadiv, Philipp Hennig, Ludovic Righetti, Sebastian Trimpe:
Robot Learning with Crash Constraints. CoRR abs/2010.08669 (2020) - [i15]Avadesh Meduri, Majid Khadiv, Ludovic Righetti:
DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain. CoRR abs/2010.14834 (2020) - [i14]Bilal Hammoud, Majid Khadiv, Ludovic Righetti:
Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control. CoRR abs/2011.04684 (2020)
2010 – 2019
- 2019
- [j6]Ahmadreza Shahrokhshahi, Aghil Yousefi-Koma, Majid Khadiv, Saeed Mansouri, Seyed Saeid Mohtasebi:
Optimal Stair Climbing Pattern Generation for Humanoids Using Virtual Slope and Distributed Mass Model. J. Intell. Robotic Syst. 94(1): 43-59 (2019) - [c3]Mohammad Hasan Yeganegi, Majid Khadiv, S. Ali A. Moosavian, Jia-Jie Zhu, Andrea Del Prete, Ludovic Righetti:
Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning. Humanoids 2019: 170-177 - [i13]Majid Khadiv, Mohammad Hasan Yeganegi, S. Ali A. Moosavian, Jia-Jie Zhu, Ludovic Righetti:
Trajectory Optimization for Robust Humanoid Locomotion with Sample-Efficient Learning. CoRR abs/1906.03684 (2019) - [i12]Mohammad Hasan Yeganegi, Majid Khadiv, S. Ali A. Moosavian, Jia-Jie Zhu, Andrea Del Prete, Ludovic Righetti:
Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning. CoRR abs/1907.04616 (2019) - [i11]Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti:
Learning Variable Impedance Control for Contact Sensitive Tasks. CoRR abs/1907.07500 (2019) - [i10]Felix Grimminger, Avadesh Meduri, Majid Khadiv, Julian Viereck, Manuel Wüthrich, Maximilien Naveau, Vincent Berenz, Steve Heim, Felix Widmaier, Jonathan Fiene, Alexander Badri-Spröwitz, Ludovic Righetti:
An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research. CoRR abs/1910.00093 (2019) - 2018
- [j5]Majid Sadedel, Aghil Yousefi-Koma, Majid Khadiv, Faezeh Iranmanesh:
Heel-strike and toe-off motions optimization for humanoid robots equipped with active toe joints. Robotica 36(6): 925-944 (2018) - [c2]Reihaneh Mirjalili, Aghil Yousefi-Koma, Farzad A. Shirazi, Arman Nikkhah, Fatemeh Nazemi, Majid Khadiv:
A Whole-Body Model Predictive Control Scheme Including External Contact Forces and CoM Height Variations. Humanoids 2018: 1-6 - [i9]Reihaneh Mirjalili, Aghil Yousefi-Koma, Farzad A. Shirazi, Arman Nikkhah, Fatemeh Nazemi, Majid Khadiv:
A Whole-Body Model Predictive Control Scheme Including External Contact Forces and CoM Height Variations. CoRR abs/1810.10270 (2018) - 2017
- [j4]Mahdokht Ezati, Majid Khadiv, S. Ali A. Moosavian:
An Investigation on the Usefulness of Employing a Two-Segment Foot for Traversing Stairs. Int. J. Humanoid Robotics 14(4): 1750027:1-1750027:31 (2017) - [j3]Majid Khadiv, S. Ali A. Moosavian, Aghil Yousefi-Koma, Hessam Maleki, Majid Sadedel:
Online adaptation for humanoids walking on uncertain surfaces. J. Syst. Control. Eng. 231(4): 245-258 (2017) - [j2]Majid Khadiv, S. Ali A. Moosavian, Aghil Yousefi-Koma, Majid Sadedel, Saeed Mansouri:
Optimal gait planning for humanoids with 3D structure walking on slippery surfaces. Robotica 35(3): 569-587 (2017) - [j1]Majid Sadedel, Aghil Yousefi-Koma, Majid Khadiv, Mohhamad Mahdavian:
Adding low-cost passive toe joints to the feet structure of SURENA III humanoid robot. Robotica 35(11): 2099-2121 (2017) - [i8]Majid Khadiv, S. Ali A. Moosavian, Aghil Yousefi-Koma, Hessam Maleki, Majid Sadedel:
Online Adaptation for Humanoids Walking On Uncertain Surfaces. CoRR abs/1703.10337 (2017) - [i7]Majid Khadiv, Alexander Herzog, S. Ali A. Moosavian, Ludovic Righetti:
A robust walking controller based on online step location and duration optimization for bipedal locomotion. CoRR abs/1704.01271 (2017) - [i6]Majid Khadiv, S. Ali A. Moosavian, Alexander Herzog, Ludovic Righetti:
Pattern Generation for Walking on Slippery Terrains. CoRR abs/1708.01866 (2017) - [i5]Majid Khadiv, S. Ali A. Moosavian, Aghil Yousefi-Koma, Majid Sadedel, Abbas Dashkhaneh, Saeed Mansouri:
Rigid vs compliant contact: An experimental study on biped walking. CoRR abs/1709.06314 (2017) - [i4]Fatemeh Nazemi, Aghil Yousefi-Koma, Farzad A. Shirazi, Majid Khadiv:
A Reactive and Efficient Walking Pattern Generator for Robust Bipedal Locomotion. CoRR abs/1710.08612 (2017) - 2016
- [c1]Majid Khadiv, Alexander Herzog, S. Ali A. Moosavian, Ludovic Righetti:
Step timing adjustment: A step toward generating robust gaits. Humanoids 2016: 35-42 - [i3]Majid Khadiv, Sébastien Kleff, Alexander Herzog, S. Ali A. Moosavian, Stefan Schaal, Ludovic Righetti:
Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment. CoRR abs/1609.09822 (2016) - [i2]Majid Khadiv, Alexander Herzog, S. Ali A. Moosavian, Ludovic Righetti:
Step Timing Adjustment: A Step toward Generating Robust Gaits. CoRR abs/1610.02377 (2016) - [i1]Milad Shafiee-Ashtiani, Aghil Yousefi-Koma, Masoud Shariat Panahi, Majid Khadiv:
Push Recovery of a Humanoid Robot Based on Model Predictive Control and Capture Point. CoRR abs/1612.08034 (2016)
Coauthor Index
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