Carlos Mastalli

Publication Activity (10 Years)

Years Active: 2014-2024
Publications (10 Years): 45

Top Topics

Motion Planning

Dynamic Programming

Convex Optimization

Top Venues

IEEE Trans. Robotics

IEEE Robotics Autom. Lett.

Publications

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 (2024)
Sergi Martinez, Robert Griffin, Carlos Mastalli
Multi-Contact Inertial Estimation and Localization in Legged Robots. CoRR (2024)
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 (2024)
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)
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 (2023)
Saroj Prasad Chhatoi, Michele Pierallini, Franco Angelini, Carlos Mastalli, Manolo Garabini
Optimal Control for Articulated Soft Robots. IEEE Trans. Robotics 39 (5) (2023)
Carlos Mastalli, Saroj Prasad Chhatoi, Thomas Corbères, Steve Tonneau, Sethu Vijayakumar
Inverse-Dynamics MPC via Nullspace Resolution. IEEE Trans. Robotics 39 (4) (2023)
Saroj Prasad Chhatoi, Michele Pierallini, Franco Angelini, Carlos Mastalli, Manolo Garabini
Optimal Control for Articulated Soft Robots. CoRR (2023)
Jaehyun Shim, Carlos Mastalli, Thomas Corbères, Steve Tonneau, Vladimir Ivan, Sethu Vijayakumar
Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection. CoRR (2023)
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 (2023)
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)
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) (2022)
Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar
Differentiable Optimal Control via Differential Dynamic Programming. CoRR (2022)
Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar
A Versatile Co-Design Approach For Dynamic Legged Robots. IROS (2022)
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 (2022)
Carlos Mastalli, Saroj Prasad Chhatoi, Thomas Corbères, Steve Tonneau, Sethu Vijayakumar
Inverse-Dynamics MPC via Nullspace Resolution. CoRR (2022)
Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar
Co-Designing Robots by Differentiating Motion Solvers. CoRR (2021)
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)
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 (2021)
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 (2020)
Jiayi Wang, Iordanis Chatzinikolaidis, Carlos Mastalli, Wouter Wolfslag, Guiyang Xin, Steve Tonneau, Sethu Vijayakumar
Automatic Gait Pattern Selection for Legged Robots. IROS (2020)
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) (2020)
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 (2020)
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)
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)
Josep Marti-Saumell, Joan Solà, Carlos Mastalli, Angel Santamaria-Navarro
Squash-Box Feasibility Driven Differential Dynamic Programming. IROS (2020)
Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Joan Solà, Nicolas Mansard, Sethu Vijayakumar
A Direct-Indirect Hybridization Approach to Control-Limited DDP. CoRR (2020)
Kevin Giraud-Esclasse, Pierre Fernbach, Gabriele Buondonno, Carlos Mastalli, Olivier Stasse
Motion Planning with Multi-Contact and Visual Servoing on Humanoid Robots. SII (2020)
Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics. CoRR (2019)
Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler, Darwin G. Caldwell, Claudio Semini
On-line and on-board planning and perception for quadrupedal locomotion. CoRR (2019)
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 (2019)
Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences. CoRR (2019)
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) (2019)
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 (2019)
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 (2019)
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) (2018)
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) (2018)
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 (2018)
Shamel Fahmi, Carlos Mastalli, Michele Focchi, Claudio Semini
Passivity Based Whole-body Control for Quadrupedal Locomotion on Challenging Terrain. CoRR (2018)
Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics. Humanoids (2018)
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 (2017)
Rodrigo S. Jamisola, Carlos Mastalli
Bio-inspired holistic control through modular relative Jacobian for combined four-arm robots. ICAR (2017)
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 (2017)
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)
Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
Hierarchical planning of dynamic movements without scheduled contact sequences. ICRA (2016)
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)
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)
Carlos Mastalli, Gerardo Fernández-López
A Proposed Architecture for Autonomous Operations in Backhoe Machines. IAS (2014)