A Generalized Mixed-Integer Convex Program for Multilegged Footstep Planning on Uneven Terrain. - Bernardo Aceituno-Cabezas; José Cappelletto; Juan C. Grieco; Gerardo Fernández-López (CoRR, 2016)

A mixed-integer convex optimization framework for robust multilegged robot locomotion planning over challenging terrain. - Bernardo Aceituno-Cabezas; Hongkai Dai; José Cappelletto; Juan C. Grieco; Gerardo Fernández-López (IROS, 2017)

Simultaneous Contact, Gait, and Motion Planning for Robust Multilegged Locomotion via Mixed-Integer Convex Optimization. - Bernardo Aceituno-Cabezas; Carlos Mastalli; Hongkai Dai; Michele Focchi; Andreea Radulescu; Darwin G. Caldwell; José Cappelletto; Juan C. Grieco; Gerardo Fernández-López; Claudio Semini (IEEE Robotics Autom. Lett., 2018)

A Convex-Combinatorial Model for Planar Caging. - Bernardo Aceituno-Cabezas; Hongkai Dai; Alberto Rodriguez 003 (IROS, 2019)

Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization. - Bernardo Aceituno-Cabezas; Carlos Mastalli; Hongkai Dai; Michele Focchi; Andreea Radulescu; Darwin G. Caldwell; José Cappelletto; Juan C. Grieco; Gerardo Fernández-López; Claudio Semini (CoRR, 2019)

A Global Quasi-Dynamic Model for Contact-Trajectory Optimization in Manipulation. - Bernardo Aceituno-Cabezas; Alberto Rodriguez 003 (Robotics: Science and Systems, 2020)

A Differentiable Recipe for Learning Visual Non-Prehensile Planar Manipulation. - Bernardo Aceituno-Cabezas; Alberto Rodriguez 003; Shubham Tulsiani; Abhinav Gupta 001; Mustafa Mukadam (CoRL, 2021)

A Hierarchical Framework for Long Horizon Planning of Object-Contact Trajectories. - Bernardo Aceituno; Alberto Rodriguez 003 (IROS, 2022)

Certified grasping. - Bernardo Aceituno-Cabezas; José Ballester; Alberto Rodriguez 003 (Int. J. Robotics Res., 2023)