Practical guide to solve the minimum-effort problem with geometric algorithms and B-Splines. - Alvaro Paz 001; Gustavo Arechavaleta (ICRA, 2019)

Online optimization of humanoid walking trajectories for passing through a door. - Alvaro Paz 001; Gustavo Arechavaleta (Robotics Auton. Syst., 2019)

Exploiting sparsity in robot trajectory optimization with direct collocation and geometric algorithms. - Daniel Cardona-Ortiz; Alvaro Paz 001; Gustavo Arechavaleta (ICRA, 2020)

Performance Evaluation of an Electromechanical Linear Actuator with Optimal Trajectories. - Mohammad Bahari; Alvaro Paz 001; Andrew S. Habib; Jouni Mattila (VTC2023-Spring, 2023)

System-Level Performance Metrics Sensitivity of an Electrified Heavy-Duty Mobile Manipulator. - Mohammad Bahari; Alvaro Paz 001; Jouni Mattila (VTC Fall, 2024)

Energy-Cautious Designation of Kinematic Parameters for a Sustainable Parallel-Serial Heavy-Duty Manipulator Driven by Electromechanical Linear Actuator. - Alvaro Paz 001; Mohammad Bahari; Jouni Mattila (VTC Fall, 2024)

Analytical Forward Dynamics Modeling of Linearly Actuated Heavy-Duty Parallel-Serial Manipulators. - Alvaro Paz 001; Jouni Mattila (CoRR, 2024)

System-Level Efficient Performance of EMLA-Driven Heavy-Duty Manipulators via Bilevel Optimization Framework with a Leader-Follower Scenario. - Mohammad Bahari; Alvaro Paz 001; Mehdi Heydari Shahna; Jouni Mattila (CoRR, 2024)

Humanoid Trajectory Optimization with B-Splines and Analytical Centroidal Momentum Derivatives. - Alvaro Paz 001; Gustavo Arechavaleta (Int. J. Humanoid Robotics, 2024)

Full-Dynamics Analytical Modeling of Normal Forces for Skid-Steering Mobile Heavy-Duty Manipulators with Actively Articulated Suspension. - Alvaro Paz 001; Mohammad Bahari; Jouni Mattila (CDC, 2025)

System-Level Efficient Performance of EMLA-Driven Heavy-Duty Manipulators via Bilevel Optimization Framework With a Leader-Follower Scenario. - Mohammad Bahari; Álvaro Paz Anaya; Mehdi Heydari Shahna; Pauli Mustalahti; Jouni Mattila (IEEE Trans Autom. Sci. Eng., 2025)

Mechanic Modeling and Nonlinear Optimal Control of Actively Articulated Suspension of Mobile Heavy-Duty Manipulators. - Alvaro Paz 001; Jouni Mattila (CoRR, 2025)

Real-Time Nonlinear Model Predictive Control of Heavy-Duty Skid-Steered Mobile Platform for Trajectory Tracking Tasks. - Alvaro Paz 001; Pauli Mustalahti; Mohammad Dastranj; Jouni Mattila (CoRR, 2025)

Full-Dynamics Real-Time Nonlinear Model Predictive Control of Heavy-Duty Hydraulic Manipulator for Trajectory Tracking Tasks. - Alvaro Paz 001; Mahdi Hejrati; Pauli Mustalahti; Jouni Mattila (CoRR, 2025)

Electrification of Heavy-Duty Robotic Manipulators via PMSM-Driven Electromechanical Linear Actuators. - Mohammad Bahari; Pauli Mustalahti; Álvaro Paz Anaya; Jouni Mattila (IEEE Access, 2026)