Carlos Mastalli

56 papers A* 7A 3C 1Journal 38Unranked 6

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	ODYN: An All-Shifted Non-Interior-Point Method for Quadratic Programming in Robotics and AI. CoRR Jose Rojas, Aristotelis Papatheodorou, Sergi Martinez, Ioannis Havoutis, Carlos Mastalli
2026	J	`jnl`	System Identification under Constraints and Disturbance: A Bayesian Estimation Approach. CoRR Sergi Martinez, Steve Tonneau, Carlos Mastalli
2025	A*	`conf`	Endpoint-Explicit Differential Dynamic Programming via Exact Resolution. ICRA Maria Parilli, Sergi Martinez, Carlos Mastalli
2025	J	`jnl`	Endpoint-Explicit Differential Dynamic Programming via Exact Resolution. CoRR Maria Parilli, Sergi Martinez, Carlos Mastalli
2025	J	`jnl`	Morphological symmetries in robotics. Int. J. Robotics Res. Daniel Felipe Ordoñez Apraez, Giulio Turrisi, Vladimir Kostic, Mario Martín, Antonio Agudo, Francesc Moreno-Noguer, Massimiliano Pontil, Claudio Semini, Carlos Mastalli
2025	J	`jnl`	Multi-Contact Inertial Parameters Estimation and Localization in Legged Robots. IEEE Robotics Autom. Lett. Sergi Martinez, Robert J. Griffin, Carlos Mastalli
2025	J	`jnl`	Perceptive Locomotion Through Whole-Body MPC and Optimal Region Selection. IEEE Access Thomas Corbères, Carlos Mastalli, Wolfgang Merkt, Jaehyun Shim, Ioannis Havoutis, Maurice F. Fallon, Nicolas Mansard, Thomas Flayols, Sethu Vijayakumar, Steve Tonneau
2024	—	`conf`	Dynamics harmonic analysis of robotic systems: Application in data-driven Koopman modelling. L4DC Daniel Felipe Ordoñez Apraez, Vladimir Kostic, Giulio Turrisi, Pietro Novelli, Carlos Mastalli, Claudio Semini, Massimiliano Pontil
2024	J	`jnl`	Morphological Symmetries in Robotics. CoRR Daniel Felipe Ordoñez Apraez, Giulio Turrisi, Vladimir Kostic, Mario Martín, Antonio Agudo, Francesc Moreno-Noguer, Massimiliano Pontil, Claudio Semini, Carlos Mastalli
2024	J	`jnl`	Multi-Contact Inertial Estimation and Localization in Legged Robots. CoRR Sergi Martinez, Robert J. Griffin, Carlos Mastalli
2024	J	`jnl`	Reference-Free Model Predictive Control for Quadrupedal Locomotion. IEEE Access Gianni Lunardi, Thomas Corbères, Carlos Mastalli, Nicolas Mansard, Thomas Flayols, Steve Tonneau, Andrea Del Prete
2023	J	`jnl`	Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling. CoRR Daniel Felipe Ordoñez Apraez, Vladimir Kostic, Giulio Turrisi, Pietro Novelli, Carlos Mastalli, Claudio Semini, Massimiliano Pontil
2023	J	`jnl`	Inverse-Dynamics MPC via Nullspace Resolution. IEEE Trans. Robotics Carlos Mastalli, Saroj Prasad Chhatoi, Thomas Corbères, Steve Tonneau, Sethu Vijayakumar
2023	J	`jnl`	Optimal Control for Articulated Soft Robots. CoRR Saroj Prasad Chhatoi, Michele Pierallini, Franco Angelini, Carlos Mastalli, Manolo Garabini
2023	J	`jnl`	Optimal Control for Articulated Soft Robots. IEEE Trans. Robotics Saroj Prasad Chhatoi, Michele Pierallini, Franco Angelini, Carlos Mastalli, Manolo Garabini
2023	J	`jnl`	Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection. CoRR Thomas Corbères, Carlos Mastalli, Wolfgang Merkt, Ioannis Havoutis, Maurice F. Fallon, Nicolas Mansard, Thomas Flayols, Sethu Vijayakumar, Steve Tonneau
2023	A*	`conf`	Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection. ICRA Jaehyun Shim, Carlos Mastalli, Thomas Corbères, Steve Tonneau, Vladimir Ivan, Sethu Vijayakumar
2023	J	`jnl`	Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection. CoRR Jaehyun Shim, Carlos Mastalli, Thomas Corbères, Steve Tonneau, Vladimir Ivan, Sethu Vijayakumar
2022	A	`conf`	A Versatile Co-Design Approach For Dynamic Legged Robots. IROS Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar
2022	J	`jnl`	A feasibility-driven approach to control-limited DDP. Auton. Robots Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Henrique Ferrolho, Joan Solà, Nicolas Mansard, Sethu Vijayakumar
2022	J	`jnl`	Agile Maneuvers in Legged Robots: a Predictive Control Approach. CoRR Carlos Mastalli, Wolfgang Merkt, Guiyang Xin, Jaehyun Shim, Michael N. Mistry, Ioannis Havoutis, Sethu Vijayakumar
2022	J	`jnl`	Differentiable Optimal Control via Differential Dynamic Programming. CoRR Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar
2022	J	`jnl`	Inverse-Dynamics MPC via Nullspace Resolution. CoRR Carlos Mastalli, Saroj Prasad Chhatoi, Thomas Corbères, Steve Tonneau, Sethu Vijayakumar
2021	J	`jnl`	Co-Designing Robots by Differentiating Motion Solvers. CoRR Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar
2021	—	`conf`	Design, analysis and control of the series-parallel hybrid RH5 humanoid robot. HUMANOIDS Julian Eßer, Shivesh Kumar, Heiner Peters, Vinzenz Bargsten, Jose de Gea Fernandez, Carlos Mastalli, Olivier Stasse, Frank Kirchner
2021	J	`jnl`	Design, analysis and control of the series-parallel hybrid RH5 humanoid robot. CoRR Julian Esser, Shivesh Kumar, Heiner Peters, Vinzenz Bargsten, Jose de Gea Fernandez, Carlos Mastalli, Olivier Stasse, Frank Kirchner
2020	J	`jnl`	A Direct-Indirect Hybridization Approach to Control-Limited DDP. CoRR Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Joan Solà, Nicolas Mansard, Sethu Vijayakumar
2020	A	`conf`	Automatic Gait Pattern Selection for Legged Robots. IROS Jiayi Wang, Iordanis Chatzinikolaidis, Carlos Mastalli, Wouter Wolfslag, Guiyang Xin, Steve Tonneau, Sethu Vijayakumar
2020	A*	`conf`	Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. ICRA Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Ludovic Righetti, Sethu Vijayakumar, Nicolas Mansard
2020	—	`ch.`	Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality. ECHORD++ Michele Focchi, Romeo Orsolino, Marco Camurri, Victor Barasuol, Carlos Mastalli, Darwin G. Caldwell, Claudio Semini
2020	A*	`conf`	Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion. ICRA Teguh Santoso Lembono, Carlos Mastalli, Pierre Fernbach, Nicolas Mansard, Sylvain Calinon
2020	J	`jnl`	Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion. CoRR Teguh Santoso Lembono, Carlos Mastalli, Pierre Fernbach, Nicolas Mansard, Sylvain Calinon
2020	J	`jnl`	Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control. CoRR Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
2020	J	`jnl`	Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping, and Whole-Body Control. IEEE Trans. Robotics Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
2020	—	`conf`	Motion Planning with Multi-Contact and Visual Servoing on Humanoid Robots. SII Kevin Giraud-Esclasse, Pierre Fernbach, Gabriele Buondonno, Carlos Mastalli, Olivier Stasse
2020	A	`conf`	Squash-Box Feasibility Driven Differential Dynamic Programming. IROS Josep Marti-Saumell, Joan Solà, Carlos Mastalli, Angel Santamaria-Navarro
2019	J	`jnl`	Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. CoRR Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Sethu Vijayakumar, Nicolas Mansard
2019	J	`jnl`	Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics. CoRR Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard
2019	J	`jnl`	Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences. CoRR Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
2019	J	`jnl`	On-line and on-board planning and perception for quadrupedal locomotion. CoRR Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler, Darwin G. Caldwell, Claudio Semini
2019	J	`jnl`	Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging Terrain. IEEE Robotics Autom. Lett. Shamel Fahmi, Carlos Mastalli, Michele Focchi, Claudio Semini
2019	J	`jnl`	Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain. CoRR Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
2019	J	`jnl`	Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization. CoRR Bernardo Aceituno-Cabezas, Carlos Mastalli, Hongkai Dai, Michele Focchi, Andreea Radulescu, Darwin G. Caldwell, José Cappelletto, Juan C. Grieco, Gerardo Fernández-López, Claudio Semini
2018	J	`jnl`	Application of Wrench-Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots. IEEE Robotics Autom. Lett. Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini
2018	—	`conf`	Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics. Humanoids Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard
2018	J	`jnl`	Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality. CoRR Michele Focchi, Romeo Orsolino, Marco Camurri, Victor Barasuol, Carlos Mastalli, Darwin G. Caldwell, Claudio Semini
2018	J	`jnl`	Passivity Based Whole-body Control for Quadrupedal Locomotion on Challenging Terrain. CoRR Shamel Fahmi, Carlos Mastalli, Michele Focchi, Claudio Semini
2018	J	`jnl`	Simultaneous Contact, Gait, and Motion Planning for Robust Multilegged Locomotion via Mixed-Integer Convex Optimization. IEEE Robotics Autom. Lett. Bernardo Aceituno-Cabezas, Carlos Mastalli, Hongkai Dai, Michele Focchi, Andreea Radulescu, Darwin G. Caldwell, José Cappelletto, Juan C. Grieco, Gerardo Fernández-López, Claudio Semini
2017	J	`jnl`	A Feasibility Metric for Trajectory Optimization of Legged Robots using Wrench Polytopes. CoRR Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini
2017	—	`conf`	Bio-inspired holistic control through modular relative Jacobian for combined four-arm robots. ICAR Rodrigo S. Jamisola, Carlos Mastalli
2017	J	`jnl`	The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP). CoRR Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini
2017	A*	`conf`	Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion. ICRA Carlos Mastalli, Michele Focchi, Ioannis Havoutis, Andreea Radulescu, Sylvain Calinon, Jonas Buchli, Darwin G. Caldwell, Claudio Semini
2016	A*	`conf`	Hierarchical planning of dynamic movements without scheduled contact sequences. ICRA Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
2015	—	`conf`	On-line and on-board planning and perception for quadrupedal locomotion. TePRA Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler, Darwin G. Caldwell, Claudio Semini
2015	A*	`conf`	Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain. ICRA Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
2014	C	`conf`	A Proposed Architecture for Autonomous Operations in Backhoe Machines. IAS Carlos Mastalli, Gerardo Fernández-López