Get our free extension to see links to code for papers anywhere online!

Chrome logo Add to Chrome

Firefox logo Add to Firefox

Picture for Farbod Farshidian

A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation


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

* 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 

  Access Paper or Ask Questions

Constraint Handling in Continuous-Time DDP-Based Model Predictive Control


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


  Access Paper or Ask Questions

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


  Access Paper or Ask Questions

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


  Access Paper or Ask Questions

Deep Value Model Predictive Control


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

* Accepted for publication in the Conference on Robotic Learning (CoRL) 2019, Osaka. 10 pages (+5 supplementary) 

  Access Paper or Ask Questions

DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learning


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

* Submitted IEEE Robotics and Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA) 2020 in Paris, France 

  Access Paper or Ask Questions

MPC-Net: A First Principles Guided Policy Search


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


  Access Paper or Ask Questions

Feedback MPC for Torque-Controlled Legged Robots


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

* submitted to IROS 2019 

  Access Paper or Ask Questions

Locomotion Planning through a Hybrid Bayesian Trajectory Optimization


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

* Accepted for publication at the IEEE International Conference on Robotics and Automation (ICRA) 2019 

  Access Paper or Ask Questions

Whole-Body MPC for a Dynamically Stable Mobile Manipulator


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


  Access Paper or Ask Questions

Frequency-Aware Model Predictive Control


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

* IEEE Robotics and Automation Letters 2019 

  Access Paper or Ask Questions

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

* 7 pages 

  Access Paper or Ask Questions

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

* 8 pages 

  Access Paper or Ask Questions

Optimal and Learning Control for Autonomous Robots


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

* Lecture Notes, 101 pages 

  Access Paper or Ask Questions

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

* currently under review for IEEE RA-L 

  Access Paper or Ask Questions

Robust Whole-Body Motion Control of Legged Robots


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

* 8 Pages 

  Access Paper or Ask Questions

An Efficient Optimal Planning and Control Framework For Quadrupedal Locomotion


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

* 8 Pages 

  Access Paper or Ask Questions

Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds


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

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

  Access Paper or Ask Questions