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Farbod Farshidian

Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators


Jan 11, 2022
Yuntao Ma, Farbod Farshidian, Takahiro Miki, Joonho Lee, Marco Hutter

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* 8 pages, accepted for RA-L 2022 
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Adaptive CLF-MPC With Application To Quadrupedal Robots


Dec 08, 2021
Maria Vittoria Minniti, Ruben Grandia, Farbod Farshidian, Marco Hutter

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* IEEE Robotics and Automation Letters (Volume: 7, Issue: 1, Jan. 2022) 
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Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks


Jun 08, 2021
Maria Vittoria Minniti, Ruben Grandia, Kevin Fäh, Farbod Farshidian, Marco Hutter

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* IEEE International Conference on Robotics and Automation (ICRA) 2021 
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Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots


Apr 09, 2021
Edo Jelavic, Farbod Farshidian, Marco Hutter

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Imitation Learning from MPC for Quadrupedal Multi-Gait Control


Mar 26, 2021
Alexander Reske, Jan Carius, Yuntao Ma, Farbod Farshidian, Marco Hutter

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Collision-Free MPC for Legged Robots in Static and Dynamic Scenes


Mar 25, 2021
Magnus Gaertner, Marko Bjelonic, Farbod Farshidian, Marco Hutter


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Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation


Mar 18, 2021
Mayank Mittal, David Hoeller, Farbod Farshidian, Marco Hutter, Animesh Garg

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Learning a State Representation and Navigation in Cluttered and Dynamic Environments


Mar 07, 2021
David Hoeller, Lorenz Wellhausen, Farbod Farshidian, Marco Hutter

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* IEEE Robotics and Automation Letters 2021 
 * 8 pages, 8 figures, 2 tables 
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A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation


Mar 01, 2021
Jean-Pierre Sleiman, Farbod Farshidian, Maria Vittoria Minniti, Marco Hutter

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* 8 Pages, 8 Figures, 1 Table. To be published in IEEE Robotics and Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA) 2021 in Xi'an, China 
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Constraint Handling in Continuous-Time DDP-Based Model Predictive Control


Jan 15, 2021
Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter

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Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs


Dec 10, 2020
Fan Shi, Timon Homberger, Joonho Lee, Takahiro Miki, Moju Zhao, Farbod Farshidian, Kei Okada, Masayuki Inaba, Marco Hutter

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A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction


Dec 04, 2019
Abel Gawel, Hermann Blum, Johannes Pankert, Koen Krämer, Luca Bartolomei, Selen Ercan, Farbod Farshidian, Margarita Chli, Fabio Gramazio, Roland Siegwart, Marco Hutter, Timothy Sandy

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Deep Value Model Predictive Control


Oct 08, 2019
Farbod Farshidian, David Hoeller, Marco Hutter

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* Accepted for publication in the Conference on Robotic Learning (CoRL) 2019, Osaka. 10 pages (+5 supplementary) 
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DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learning


Sep 18, 2019
Vassilios Tsounis, Mitja Alge, Joonho Lee, Farbod Farshidian, Marco Hutter

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* Submitted IEEE Robotics and Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA) 2020 in Paris, France 
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MPC-Net: A First Principles Guided Policy Search


Sep 11, 2019
Jan Carius, Farbod Farshidian, Marco Hutter

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Feedback MPC for Torque-Controlled Legged Robots


May 15, 2019
Ruben Grandia, Farbod Farshidian, René Ranftl, Marco Hutter

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* submitted to IROS 2019 
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Locomotion Planning through a Hybrid Bayesian Trajectory Optimization


Mar 09, 2019
Tim Seyde, Jan Carius, Ruben Grandia, Farbod Farshidian, Marco Hutter

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* Accepted for publication at the IEEE International Conference on Robotics and Automation (ICRA) 2019 
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Whole-Body MPC for a Dynamically Stable Mobile Manipulator


Feb 27, 2019
Maria Vittoria Minniti, Farbod Farshidian, Ruben Grandia, Marco Hutter

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Frequency-Aware Model Predictive Control


Feb 08, 2019
Ruben Grandia, Farbod Farshidian, Alexey Dosovitskiy, René Ranftl, Marco Hutter

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* IEEE Robotics and Automation Letters 2019 
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Efficient Kinematic Planning for Mobile Manipulators with Non-holonomic Constraints Using Optimal Control


Jan 16, 2018
Markus Giftthaler, Farbod Farshidian, Timothy Sandy, Lukas Stadelmann, Jonas Buchli

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* 7 pages 
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Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach


Oct 11, 2017
Farbod Farshidian, Edo Jelavić, Asutosh Satapathy, Markus Giftthaler, Jonas Buchli

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* 8 pages 
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Optimal and Learning Control for Autonomous Robots


Aug 30, 2017
Jonas Buchli, Farbod Farshidian, Alexander Winkler, Timothy Sandy, Markus Giftthaler

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* Lecture Notes, 101 pages 
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Fast Trajectory Optimization for Legged Robots using Vertex-based ZMP Constraints


May 27, 2017
Alexander W Winkler, Farbod Farshidian, Diego Pardo, Michael Neunert, Jonas Buchli

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* currently under review for IEEE RA-L 
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Robust Whole-Body Motion Control of Legged Robots


Mar 07, 2017
Farbod Farshidian, Edo Jelavić, Alexander W. Winkler, Jonas Buchli

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* 8 Pages 
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An Efficient Optimal Planning and Control Framework For Quadrupedal Locomotion


Mar 04, 2017
Farbod Farshidian, Michael Neunert, Alexander W. Winkler, Gonzalo Rey, Jonas Buchli

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* 8 Pages 
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Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds


Jul 15, 2016
Michael Neunert, Farbod Farshidian, Alexander W. Winkler, Jonas Buchli

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* Video: https://youtu.be/sILuqJBsyKs 
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