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ORCIDCarlos Mastalli
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2020 – today
- 2025
[j10]Thomas Corbères, Carlos Mastalli
, Wolfgang Merkt, Jaehyun Shim, Ioannis Havoutis, Maurice F. Fallon, Nicolas Mansard, Thomas Flayols, Sethu Vijayakumar, Steve Tonneau:
Perceptive Locomotion Through Whole-Body MPC and Optimal Region Selection. IEEE Access 13: 69062-69080 (2025)- [j9]Sergi Martinez, Robert J. Griffin, Carlos Mastalli:
Multi-Contact Inertial Parameters Estimation and Localization in Legged Robots. IEEE Robotics Autom. Lett. 10(5): 4730-4737 (2025) - [i25]Maria Parilli, Sergi Martinez, Carlos Mastalli:
Endpoint-Explicit Differential Dynamic Programming via Exact Resolution. CoRR abs/2503.03897 (2025) - 2024
- [j8]Gianni Lunardi, Thomas Corbères, Carlos Mastalli, Nicolas Mansard, Thomas Flayols, Steve Tonneau, Andrea Del Prete:
Reference-Free Model Predictive Control for Quadrupedal Locomotion. IEEE Access 12: 689-698 (2024) - [c16]Daniel Felipe Ordoñez Apraez, Vladimir Kostic, Giulio Turrisi, Pietro Novelli, Carlos Mastalli, Claudio Semini, Massimiliano Pontil:
Dynamics harmonic analysis of robotic systems: Application in data-driven Koopman modelling. L4DC 2024: 1318-1329 - [i24]Daniel Felipe Ordoñez Apraez, Giulio Turrisi, Vladimir Kostic, Mario Martín, Antonio Agudo, Francesc Moreno-Noguer, Massimiliano Pontil, Claudio Semini, Carlos Mastalli:
Morphological Symmetries in Robotics. CoRR abs/2402.15552 (2024) - [i23]Sergi Martinez, Robert J. Griffin, Carlos Mastalli:
Multi-Contact Inertial Estimation and Localization in Legged Robots. CoRR abs/2403.17161 (2024) - 2023
- [j7]Carlos Mastalli, Saroj Prasad Chhatoi, Thomas Corbères, Steve Tonneau, Sethu Vijayakumar:
Inverse-Dynamics MPC via Nullspace Resolution. IEEE Trans. Robotics 39(4): 3222-3241 (2023) - [j6]Saroj Prasad Chhatoi, Michele Pierallini, Franco Angelini, Carlos Mastalli, Manolo Garabini:
Optimal Control for Articulated Soft Robots. IEEE Trans. Robotics 39(5): 3671-3685 (2023) - [c15]Jaehyun Shim, Carlos Mastalli, Thomas Corbères, Steve Tonneau, Vladimir Ivan, Sethu Vijayakumar:
Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection. ICRA 2023: 12226-12232 - [i22]Jaehyun Shim, Carlos Mastalli, Thomas Corbères, Steve Tonneau, Vladimir Ivan, Sethu Vijayakumar:
Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection. CoRR abs/2303.13726 (2023) - [i21]Thomas Corbères, Carlos Mastalli, Wolfgang Merkt, Ioannis Havoutis, Maurice F. Fallon, Nicolas Mansard, Thomas Flayols, Sethu Vijayakumar, Steve Tonneau:
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection. CoRR abs/2305.08926 (2023) - [i20]Saroj Prasad Chhatoi, Michele Pierallini, Franco Angelini, Carlos Mastalli, Manolo Garabini:
Optimal Control for Articulated Soft Robots. CoRR abs/2306.01934 (2023) - [i19]Daniel Felipe Ordoñez Apraez, Vladimir Kostic, Giulio Turrisi, Pietro Novelli, Carlos Mastalli, Claudio Semini, Massimiliano Pontil:
Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling. CoRR abs/2312.07457 (2023) - 2022
- [j5]Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Henrique Ferrolho, Joan Solà, Nicolas Mansard, Sethu Vijayakumar:
A feasibility-driven approach to control-limited DDP. Auton. Robots 46(8): 985-1005 (2022) - [c14]Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar:
A Versatile Co-Design Approach For Dynamic Legged Robots. IROS 2022: 10343-10349 - [i18]Carlos Mastalli, Wolfgang Merkt, Guiyang Xin, Jaehyun Shim, Michael N. Mistry, Ioannis Havoutis, Sethu Vijayakumar:
Agile Maneuvers in Legged Robots: a Predictive Control Approach. CoRR abs/2203.07554 (2022) - [i17]Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar:
Differentiable Optimal Control via Differential Dynamic Programming. CoRR abs/2209.01117 (2022) - [i16]Carlos Mastalli, Saroj Prasad Chhatoi, Thomas Corbères, Steve Tonneau, Sethu Vijayakumar:
Inverse-Dynamics MPC via Nullspace Resolution. CoRR abs/2209.05375 (2022) - 2021
- [c13]Julian Eßer, Shivesh Kumar, Heiner Peters, Vinzenz Bargsten, Jose de Gea Fernandez, Carlos Mastalli, Olivier Stasse, Frank Kirchner:
Design, analysis and control of the series-parallel hybrid RH5 humanoid robot. HUMANOIDS 2021: 400-407 - [i15]Julian Esser, Shivesh Kumar, Heiner Peters, Vinzenz Bargsten, Jose de Gea Fernandez, Carlos Mastalli, Olivier Stasse, Frank Kirchner:
Design, analysis and control of the series-parallel hybrid RH5 humanoid robot. CoRR abs/2101.10591 (2021) - [i14]Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar:
Co-Designing Robots by Differentiating Motion Solvers. CoRR abs/2103.04660 (2021) - 2020
- [j4]Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini:
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping, and Whole-Body Control. IEEE Trans. Robotics 36(6): 1635-1648 (2020) - [c12]Teguh Santoso Lembono, Carlos Mastalli, Pierre Fernbach, Nicolas Mansard, Sylvain Calinon:
Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion. ICRA 2020: 1357-1363 - [c11]Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Ludovic Righetti, Sethu Vijayakumar, Nicolas Mansard:
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. ICRA 2020: 2536-2542 - [c10]Jiayi Wang, Iordanis Chatzinikolaidis, Carlos Mastalli, Wouter Wolfslag, Guiyang Xin, Steve Tonneau, Sethu Vijayakumar:
Automatic Gait Pattern Selection for Legged Robots. IROS 2020: 3990-3997 - [c9]Josep Marti-Saumell, Joan Solà, Carlos Mastalli, Angel Santamaria-Navarro:
Squash-Box Feasibility Driven Differential Dynamic Programming. IROS 2020: 7637-7644 - [c8]Kevin Giraud-Esclasse, Pierre Fernbach, Gabriele Buondonno, Carlos Mastalli, Olivier Stasse:
Motion Planning with Multi-Contact and Visual Servoing on Humanoid Robots. SII 2020: 156-163 - [p1]Michele Focchi, Romeo Orsolino, Marco Camurri, Victor Barasuol, Carlos Mastalli, Darwin G. Caldwell, Claudio Semini:
Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality. ECHORD++ 2020: 165-209 - [i13]Teguh Santoso Lembono, Carlos Mastalli, Pierre Fernbach, Nicolas Mansard, Sylvain Calinon:
Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion. CoRR abs/2001.11751 (2020) - [i12]Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini:
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control. CoRR abs/2003.05481 (2020) - [i11]Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Joan Solà, Nicolas Mansard, Sethu Vijayakumar:
A Direct-Indirect Hybridization Approach to Control-Limited DDP. CoRR abs/2010.00411 (2020)
2010 – 2019
- 2019
- [j3]Shamel Fahmi, Carlos Mastalli, Michele Focchi, Claudio Semini:
Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging Terrain. IEEE Robotics Autom. Lett. 4(3): 2553-2560 (2019) - [i10]Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler, Darwin G. Caldwell, Claudio Semini:
On-line and on-board planning and perception for quadrupedal locomotion. CoRR abs/1904.03693 (2019) - [i9]Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini:
Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain. CoRR abs/1904.03695 (2019) - [i8]Bernardo Aceituno-Cabezas, Carlos Mastalli, Hongkai Dai, Michele Focchi, Andreea Radulescu, Darwin G. Caldwell, José Cappelletto, Juan C. Grieco, Gerardo Fernández-López, Claudio Semini:
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization. CoRR abs/1904.04595 (2019) - [i7]Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini:
Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences. CoRR abs/1904.04600 (2019) - [i6]Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard:
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics. CoRR abs/1904.05072 (2019) - [i5]Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Sethu Vijayakumar, Nicolas Mansard:
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. CoRR abs/1909.04947 (2019) - 2018
- [j2]Bernardo Aceituno-Cabezas, Carlos Mastalli, Hongkai Dai, Michele Focchi, Andreea Radulescu, Darwin G. Caldwell, José Cappelletto, Juan C. Grieco, Gerardo Fernández-López, Claudio Semini:
Simultaneous Contact, Gait, and Motion Planning for Robust Multilegged Locomotion via Mixed-Integer Convex Optimization. IEEE Robotics Autom. Lett. 3(3): 2531-2538 (2018) - [j1]Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini:
Application of Wrench-Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots. IEEE Robotics Autom. Lett. 3(4): 3363-3370 (2018) - [c7]Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard:
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics. Humanoids 2018: 1-9 - [i4]Michele Focchi, Romeo Orsolino, Marco Camurri, Victor Barasuol, Carlos Mastalli, Darwin G. Caldwell, Claudio Semini:
Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality. CoRR abs/1805.10238 (2018) - [i3]Shamel Fahmi, Carlos Mastalli, Michele Focchi, Claudio Semini:
Passivity Based Whole-body Control for Quadrupedal Locomotion on Challenging Terrain. CoRR abs/1811.00884 (2018) - 2017
- [c6]Rodrigo S. Jamisola, Carlos Mastalli:
Bio-inspired holistic control through modular relative Jacobian for combined four-arm robots. ICAR 2017: 346-352 - [c5]Carlos Mastalli, Michele Focchi, Ioannis Havoutis, Andreea Radulescu, Sylvain Calinon, Jonas Buchli, Darwin G. Caldwell, Claudio Semini:
Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion. ICRA 2017: 1096-1103 - [i2]Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini:
The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP). CoRR abs/1712.02731 (2017) - [i1]Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini:
A Feasibility Metric for Trajectory Optimization of Legged Robots using Wrench Polytopes. CoRR abs/1712.06833 (2017) - 2016
- [c4]Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini:
Hierarchical planning of dynamic movements without scheduled contact sequences. ICRA 2016: 4636-4641 - 2015
- [c3]Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini:
Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain. ICRA 2015: 5148-5154 - [c2]Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler, Darwin G. Caldwell, Claudio Semini:
On-line and on-board planning and perception for quadrupedal locomotion. TePRA 2015: 1-7 - 2014
- [c1]Carlos Mastalli, Gerardo Fernández-López:
A Proposed Architecture for Autonomous Operations in Backhoe Machines. IAS 2014: 1549-1559
Coauthor Index
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last updated on 2025-05-12 21:40 CEST by the dblp team
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