Majid Khadiv

Publication Activity (10 Years)

Years Active: 2016-2024
Publications (10 Years): 65

Top Topics

Pattern Generation

Predictive Control

Motion Planning

Top Venues

IEEE Robotics Autom. Lett.

IEEE Trans. Robotics

Publications

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 (2024)
Rikhat Akizhanov, Victor Dhédin, Majid Khadiv, Ivan Laptev
Learning feasible transitions for efficient contact planning. CoRR (2024)
Xun Pua, Majid Khadiv
Safe Learning of Locomotion Skills from MPC. CoRR (2024)
Haizhou Zhao, Majid Khadiv
Trajectory Optimization under Contact Timing Uncertainties. CoRR (2024)
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 (2024)
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 (2024)
Majid Khadiv, Avadesh Meduri, Huaijiang Zhu, Ludovic Righetti, Bernhard Schölkopf
Learning Locomotion Skills from MPC in Sensor Space. L4DC (2023)
Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti
Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty. CoRR (2023)
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)
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) (2023)
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)
Shahram Khorshidi, Ahmad Gazar, Nicholas Rotella, Maximilien Naveau, Ludovic Righetti, Majid Khadiv
On the Use of Torque Measurement in Centroidal State Estimation. CoRR (2022)
Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti
Model-free reinforcement learning for robust locomotion using demonstrations from trajectory optimization. Frontiers Robotics AI 9 (2022)
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) (2022)
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) (2022)
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 (2022)
Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti
Model-free reinforcement learning for robust locomotion using demonstrations from trajectory optimization. Future Internet 9 (2022)
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)
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 (2022)
Ahmad Gazar, Majid Khadiv, Sébastien Kleff, Andrea Del Prete, Ludovic Righetti
Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots. CoRR (2022)
Mahrokh Ghoddousi Boroujeni, Elham Daneshmand, Ludovic Righetti, Majid Khadiv
A unified framework for walking and running of bipedal robots. CoRR (2021)
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) (2021)
Bilal Hammoud, Majid Khadiv, Ludovic Righetti
Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control. IEEE Robotics Autom. Lett. 6 (3) (2021)
Mahrokh Ghoddousi Boroujeni, Elham Daneshmand, Ludovic Righetti, Majid Khadiv
A unified framework for walking and running of bipedal robots. ICAR (2021)
Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent. CoRR (2021)
Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent. IROS (2021)
Avadesh Meduri, Majid Khadiv, Ludovic Righetti
DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain. ICRA (2021)
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)
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) (2021)
Alonso Marco, Dominik Baumann, Majid Khadiv, Philipp Hennig, Ludovic Righetti, Sebastian Trimpe
Robot Learning With Crash Constraints. IEEE Robotics Autom. Lett. 6 (2) (2021)
Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti
Model-free Reinforcement Learning for Robust Locomotion Using Trajectory Optimization for Exploration. CoRR (2021)
Elham Daneshmand, Majid Khadiv, Felix Grimminger, Ludovic Righetti
Bipedal Walking Control using Variable Horizon MPC. CoRR (2020)
Alonso Marco, Dominik Baumann, Majid Khadiv, Philipp Hennig, Ludovic Righetti, Sebastian Trimpe
Robot Learning with Crash Constraints. CoRR (2020)
Majid Khadiv, Alexander Herzog, S. Ali A. Moosavian, Ludovic Righetti
Walking Control Based on Step Timing Adaptation. IEEE Trans. Robotics 36 (3) (2020)
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 (2020)
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)
Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti
Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance. CoRR (2020)
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 (2020)
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) (2020)
Avadesh Meduri, Majid Khadiv, Ludovic Righetti
DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain. CoRR (2020)
Bilal Hammoud, Majid Khadiv, Ludovic Righetti
Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control. CoRR (2020)
Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti
Learning Variable Impedance Control for Contact Sensitive Tasks. IEEE Robotics Autom. Lett. 5 (4) (2020)
Brahayam Ponton, Majid Khadiv, Avadesh Meduri, Ludovic Righetti
Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics. CoRR (2020)
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 (2019)
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 (2019)
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) (2019)
Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti
Learning Variable Impedance Control for Contact Sensitive Tasks. CoRR (2019)
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)
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 (2019)
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)
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 (2018)
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) (2018)
Fatemeh Nazemi, Aghil Yousefi-Koma, Farzad A. Shirazi, Majid Khadiv
A Reactive and Efficient Walking Pattern Generator for Robust Bipedal Locomotion. CoRR (2017)
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) (2017)
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) (2017)
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) (2017)
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 (2017)
Majid Khadiv, S. Ali A. Moosavian, Aghil Yousefi-Koma, Hessam Maleki, Majid Sadedel
Online Adaptation for Humanoids Walking On Uncertain Surfaces. CoRR (2017)
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) (2017)
Majid Khadiv, S. Ali A. Moosavian, Alexander Herzog, Ludovic Righetti
Pattern Generation for Walking on Slippery Terrains. CoRR (2017)
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 (2017)
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 (2016)
Majid Khadiv, Alexander Herzog, S. Ali A. Moosavian, Ludovic Righetti
Step Timing Adjustment: A Step toward Generating Robust Gaits. CoRR (2016)
Majid Khadiv, Sebastien Kleff, Alexander Herzog, S. Ali A. Moosavian, Stefan Schaal, Ludovic Righetti
Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment. CoRR (2016)
Majid Khadiv, Alexander Herzog, S. Ali A. Moosavian, Ludovic Righetti
Step timing adjustment: A step toward generating robust gaits. Humanoids (2016)