Step timing adjustment: A step toward generating robust gaits. - Majid Khadiv; Alexander Herzog; S. Ali A. Moosavian; Ludovic Righetti (Humanoids, 2016)

Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment. - Majid Khadiv; Sébastien Kleff; Alexander Herzog; S. Ali A. Moosavian; Stefan Schaal; Ludovic Righetti (CoRR, 2016)

Push Recovery of a Humanoid Robot Based on Model Predictive Control and Capture Point. - Milad Shafiee-Ashtiani; Aghil Yousefi-Koma; Masoud Shariat Panahi; Majid Khadiv (CoRR, 2016)

A robust walking controller based on online step location and duration optimization for bipedal locomotion. - Majid Khadiv; Alexander Herzog; S. Ali A. Moosavian; Ludovic Righetti (CoRR, 2017)

Pattern Generation for Walking on Slippery Terrains. - Majid Khadiv; S. Ali A. Moosavian; Alexander Herzog; Ludovic Righetti (CoRR, 2017)

Rigid vs compliant contact: An experimental study on biped walking. - Majid Khadiv; S. Ali A. Moosavian; Aghil Yousefi-Koma; Majid Sadedel; Abbas Dashkhaneh; Saeed Mansouri (CoRR, 2017)

A Reactive and Efficient Walking Pattern Generator for Robust Bipedal Locomotion. - Fatemeh Nazemi; Aghil Yousefi-Koma; Farzad A. Shirazi; Majid Khadiv (CoRR, 2017)

An Investigation on the Usefulness of Employing a Two-Segment Foot for Traversing Stairs. - Mahdokht Ezati; Majid Khadiv; S. Ali A. Moosavian (Int. J. Humanoid Robotics, 2017)

Online adaptation for humanoids walking on uncertain surfaces. - Majid Khadiv; S. Ali A. Moosavian; Aghil Yousefi-Koma; Hessam Maleki; Majid Sadedel (J. Syst. Control. Eng., 2017)

Optimal gait planning for humanoids with 3D structure walking on slippery surfaces. - Majid Khadiv; S. Ali A. Moosavian; Aghil Yousefi-Koma; Majid Sadedel; Saeed Mansouri (Robotica, 2017)

Adding low-cost passive toe joints to the feet structure of SURENA III humanoid robot. - Majid Sadedel; Aghil Yousefi-Koma; Majid Khadiv; Mohhamad Mahdavian (Robotica, 2017)

A Whole-Body Model Predictive Control Scheme Including External Contact Forces and CoM Height Variations. - Reihaneh Mirjalili; Aghil Yousefi-Koma; Farzad A. Shirazi; Arman Nikkhah; Fatemeh Nazemi; Majid Khadiv (Humanoids, 2018)

Heel-strike and toe-off motions optimization for humanoid robots equipped with active toe joints. - Majid Sadedel; Aghil Yousefi-Koma; Majid Khadiv; Faezeh Iranmanesh (Robotica, 2018)

Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning. - Mohammad Hasan Yeganegi; Majid Khadiv; S. Ali A. Moosavian; Jia-Jie Zhu; Andrea Del Prete; Ludovic Righetti (Humanoids, 2019)

Trajectory Optimization for Robust Humanoid Locomotion with Sample-Efficient Learning. - Majid Khadiv; Mohammad Hasan Yeganegi; S. Ali A. Moosavian; Jia-Jie Zhu; Ludovic Righetti (CoRR, 2019)

An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research. - 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 (CoRR, 2019)

Optimal Stair Climbing Pattern Generation for Humanoids Using Virtual Slope and Distributed Mass Model. - Ahmadreza Shahrokhshahi; Aghil Yousefi-Koma; Majid Khadiv; Saeed Mansouri; Seyed Saeid Mohtasebi (J. Intell. Robotic Syst., 2019)

TriFinger: An Open-Source Robot for Learning Dexterity. - Manuel Wuthrich; Felix Widmaier; Felix Grimminger; Shruti Joshi; Vaibhav Agrawal; Bilal Hammoud; Majid Khadiv; Miroslav Bogdanovic; Vincent Berenz; Julian Viereck; Maximilien Naveau; Ludovic Righetti; et al. (CoRL, 2020)

TriFinger: An Open-Source Robot for Learning Dexterity. - Manuel Wüthrich; Felix Widmaier; Felix Grimminger; Joel Akpo; Shruti Joshi; Vaibhav Agrawal; Bilal Hammoud; Majid Khadiv; Miroslav Bogdanovic; Vincent Berenz; Julian Viereck; Maximilien Naveau; et al. (CoRR, 2020)

Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics. - Brahayam Ponton; Majid Khadiv; Avadesh Meduri; Ludovic Righetti (CoRR, 2020)

Robust walking based on MPC with viability-based feasibility guarantees. - Mohammad Hasan Yeganegi; Majid Khadiv; Andrea Del Prete; S. Ali A. Moosavian; Ludovic Righetti (CoRR, 2020)

Bipedal Walking Control using Variable Horizon MPC. - Elham Daneshmand; Majid Khadiv; Felix Grimminger; Ludovic Righetti (CoRR, 2020)

Learning Variable Impedance Control for Contact Sensitive Tasks. - Miroslav Bogdanovic; Majid Khadiv; Ludovic Righetti (IEEE Robotics Autom. Lett., 2020)

An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research. - 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; et al. (IEEE Robotics Autom. Lett., 2020)

Walking Control Based on Step Timing Adaptation. - Majid Khadiv; Alexander Herzog; S. Ali A. Moosavian; Ludovic Righetti (IEEE Trans. Robotics, 2020)

Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance. - Ahmad Gazar; Majid Khadiv; Andrea Del Prete; Ludovic Righetti (HUMANOIDS, 2021)

A unified framework for walking and running of bipedal robots. - Mahrokh Ghoddousi Boroujeni; Elham Daneshmand; Ludovic Righetti; Majid Khadiv (ICAR, 2021)

DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain. - Avadesh Meduri; Majid Khadiv; Ludovic Righetti (ICRA, 2021)

Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent. - Paarth Shah; Avadesh Meduri; Wolfgang Merkt; Majid Khadiv; Ioannis Havoutis; Ludovic Righetti (IROS, 2021)

Model-free Reinforcement Learning for Robust Locomotion Using Trajectory Optimization for Exploration. - Miroslav Bogdanovic; Majid Khadiv; Ludovic Righetti (CoRR, 2021)

Variable Horizon MPC With Swing Foot Dynamics for Bipedal Walking Control. - Elham Daneshmand; Majid Khadiv; Felix Grimminger; Ludovic Righetti (IEEE Robotics Autom. Lett., 2021)

Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control. - Bilal Hammoud; Majid Khadiv; Ludovic Righetti (IEEE Robotics Autom. Lett., 2021)

Robot Learning With Crash Constraints. - Alonso Marco; Dominik Baumann; Majid Khadiv; Philipp Hennig; Ludovic Righetti; Sebastian Trimpe (IEEE Robotics Autom. Lett., 2021)

Efficient Multicontact Pattern Generation With Sequential Convex Approximations of the Centroidal Dynamics. - Brahayam Ponton; Majid Khadiv; Avadesh Meduri; Ludovic Righetti (IEEE Trans. Robotics, 2021)

Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots. - Ahmad Gazar; Majid Khadiv; Sébastien Kleff; Andrea Del Prete; Ludovic Righetti (ISRR, 2022)

On the Use of Torque Measurement in Centroidal State Estimation. - Shahram Khorshidi; Ahmad Gazar; Nicholas Rotella; Maximilien Naveau; Ludovic Righetti; Majid Khadiv (CoRR, 2022)

Model-free reinforcement learning for robust locomotion using demonstrations from trajectory optimization. - Miroslav Bogdanovic; Majid Khadiv; Ludovic Righetti (Frontiers Robotics AI, 2022)

Sample-Efficient Policy Adaptation for Exoskeletons Under Variations in the Users and the Environment. - Ahmadreza Shahrokhshahi; Majid Khadiv; Ali Taherifar; Saeed Mansouri; Edward J. Park; Siamak Arzanpour (IEEE Robotics Autom. Lett., 2022)

Robust Walking Based on MPC With Viability Guarantees. - Mohammad Hasan Yeganegi; Majid Khadiv; Andrea Del Prete; S. Ali A. Moosavian; Ludovic Righetti (IEEE Trans. Robotics, 2022)

Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion. - Victor Dhédin; Haolong Li; Shahram Khorshidi; Lukas Mack; Adithya Kumar Chinnakkonda Ravi; Avadesh Meduri; Paarth Shah; Felix Grimminger; Ludovic Righetti; Majid Khadiv; Joerg Stueckler (ICRA, 2023)

On the Use of Torque Measurement in Centroidal State Estimation. - Shahram Khorshidi; Ahmad Gazar; Nicholas Rotella; Maximilien Naveau; Ludovic Righetti; Maren Bennewitz; Majid Khadiv (ICRA, 2023)

Learning Locomotion Skills from MPC in Sensor Space. - Majid Khadiv; Avadesh Meduri; Huaijiang Zhu; Ludovic Righetti; Bernhard Schölkopf (L4DC, 2023)

Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty. - Ahmad Gazar; Majid Khadiv; Andrea Del Prete; Ludovic Righetti (CoRR, 2023)

BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning. - Avadesh Meduri; Paarth Shah; Julian Viereck; Majid Khadiv; Ioannis Havoutis; Ludovic Righetti (IEEE Trans. Robotics, 2023)

Diffusion-based learning of contact plans for agile locomotion. - Victor Dhédin; Adithya Kumar Chinnakkonda Ravi; Armand Jordana; Huaijiang Zhu; Avadesh Meduri; Ludovic Righetti; Bernhard Schölkopf; Majid Khadiv (Humanoids, 2024)

Safe Learning of Locomotion Skills from MPC. - Xun Pua; Majid Khadiv (Humanoids, 2024)

Trajectory Optimization under Contact Timing Uncertainties. - Haizhou Zhao; Majid Khadiv (Humanoids, 2024)

Learning User-Specific Control Policies for Lower-Limb Exoskeletons Using Gaussian Process Regression. - Ahmadreza Shahrokhshahi; Majid Khadiv; Saeed Mansouri; Siamak Arzanpour; Edward J. Park (IEEE Access, 2024)

Efficient Search and Learning for Agile Locomotion on Stepping Stones. - Adithya Kumar Chinnakkonda Ravi; Victor Dhédin; Armand Jordana; Huaijiang Zhu; Avadesh Meduri; Ludovic Righetti; Bernhard Schölkopf; Majid Khadiv (CoRR, 2024)

Contact-conditioned learning of locomotion policies. - Michal Ciebielski; Majid Khadiv (CoRR, 2024)

Physically-Consistent Parameter Identification of Robots in Contact. - Shahram Khorshidi; Murad Dawood; Benno Nederkorn; Maren Bennewitz; Majid Khadiv (CoRR, 2024)

Learning Feasible Transitions for Efficient Contact Planning. - Rikhat Akizhanov; Victor Dhédin; Majid Khadiv; Ivan Laptev (L4DC, 2025)

Learning-based legged locomotion: State of the art and future perspectives. - Sehoon Ha; Joonho Lee; Michiel van de Panne; Zhaoming Xie; Wenhao Yu 003; Majid Khadiv (Int. J. Robotics Res., 2025)

Non-Gaited Legged Locomotion With Monte-Carlo Tree Search and Supervised Learning. - Ilyass Taouil; Lorenzo Amatucci; Majid Khadiv; Angela Dai; Victor Barasuol; Giulio Turrisi; Claudio Semini (IEEE Robotics Autom. Lett., 2025)

Physically Consistent Humanoid Loco-Manipulation using Latent Diffusion Models. - Ilyass Taouil; Haizhou Zhao; Angela Dai; Majid Khadiv (CoRR, 2025)