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Shahram Khorshidi

Ph.D. Student

 

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Contact

 
Email :

skhorshi_at_uni-bonn.de

khorshidi_at_informatik.uni-bonn.de

Phone : +49(0)228 73-54154
Address:

Shahram Khorshidi

Rheinische Friedrich-Willhelms-Universität Bonn
Institut für Informatik VI

Room 2.045

Friedrich-Hirzebruch-Allee 8

53115 Bonn
Germany

 

About me

I am a PhD researcher in Humanoid Robots Lab, headed by Prof. Maren Bennewitz at the University of Bonn. My research interests are Legged robots dynamic locomotion, state estimation and SLAM. I am mostly interested in developing and generating control frameworks with various approaches (MPC, machine learning) for physical interactions of robots such as locomotion, and navigation in different environments with the combination of perception, and evaluating these behaviors on real robots.

I received my master's degree in Mechatronics from Hamburg University of Technology in 2022. During my master studies, I did two year internship at Max Planck Institute for Intelligent Systems, working on legged robots locomotion control, and state estimation.

University of Bonn

since 11.2022
Ph.D. student at the Humanoid Robots Lab

Max Planck Institute for Intelligent Systems

12.2020 - 09.2022 Student Research Assistant at the Movement Generation and Control Lab

Hamburg University of Technology

10.2019 - 09.2022
Master studies in Mechatronics

Research Interests

  • Legged robots locomotion
  • MPC and reinforcement learning
  • State estimation and SLAM

Current Research Projects

  • Loop closing for polygonal mapping in visual based SLAM
  • Sequence contact planning for legged robots on uneven terrain

Publications

“On the Use of Torque Measurement in Centroidal State Estimation”,
S. Khorshidi, A. Gazar, N. Rotella, M. Naveau, L. Righetti, M. Khadiv.

IEEE International Conference on Robotics and Automation(ICRA 2023)

"Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion",
V. Dhédin, S. Khorshidi, L. Righetti, M. Khadiv , and J. Stueckler.

IEEE International Conference on Robotics and Automation(ICRA 2023)