Carlos Mastalli

According to our database, Carlos Mastalli authored at least 41 papers between 2014 and 2025.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of four.

2025

Multi-Contact Inertial Parameters Estimation and Localization in Legged Robots.

Sergi Martinez, Robert J. Griffin, Carlos Mastalli

IEEE Robotics Autom. Lett., May, 2025

Morphological symmetries in robotics.

Daniel Felipe Ordoñez Apraez, Giulio Turrisi, Vladimir Kostic, Mario Martín, Antonio Agudo, Francesc Moreno-Noguer, Massimiliano Pontil, Claudio Semini, Carlos Mastalli

Int. J. Robotics Res., 2025

Perceptive Locomotion Through Whole-Body MPC and Optimal Region Selection.

Thomas Corbères, Carlos Mastalli, Wolfgang Merkt, Jaehyun Shim, Ioannis Havoutis, Maurice F. Fallon, Nicolas Mansard, Thomas Flayols, Sethu Vijayakumar, Steve Tonneau

IEEE Access, 2025

Endpoint-Explicit Differential Dynamic Programming via Exact Resolution.

Maria Parilli, Sergi Martinez, Carlos Mastalli

Proceedings of the IEEE International Conference on Robotics and Automation, 2025

2024

Multi-Contact Inertial Estimation and Localization in Legged Robots.

Sergi Martinez, Robert J. Griffin, Carlos Mastalli

CoRR, 2024

Reference-Free Model Predictive Control for Quadrupedal Locomotion.

Gianni Lunardi, Thomas Corbères, Carlos Mastalli, Nicolas Mansard, Thomas Flayols, Steve Tonneau, Andrea Del Prete

IEEE Access, 2024

Dynamics harmonic analysis of robotic systems: Application in data-driven Koopman modelling.

Daniel Felipe Ordoñez Apraez, Vladimir Kostic, Giulio Turrisi, Pietro Novelli, Carlos Mastalli, Claudio Semini, Massimiliano Pontil

Proceedings of the 6th Annual Learning for Dynamics & Control Conference, 2024

2023

Optimal Control for Articulated Soft Robots.

Saroj Prasad Chhatoi, Michele Pierallini, Franco Angelini, Carlos Mastalli, Manolo Garabini

IEEE Trans. Robotics, October, 2023

Inverse-Dynamics MPC via Nullspace Resolution.

Carlos Mastalli, Saroj Prasad Chhatoi, Thomas Corbères, Steve Tonneau, Sethu Vijayakumar

IEEE Trans. Robotics, August, 2023

Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection.

Thomas Corbères, Carlos Mastalli, Wolfgang Merkt, Ioannis Havoutis, Maurice F. Fallon, Nicolas Mansard, Thomas Flayols, Sethu Vijayakumar, Steve Tonneau

CoRR, 2023

Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection.

Jaehyun Shim, Carlos Mastalli, Thomas Corbères, Steve Tonneau, Vladimir Ivan, Sethu Vijayakumar

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

2022

Differentiable Optimal Control via Differential Dynamic Programming.

Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar

CoRR, 2022

Agile Maneuvers in Legged Robots: a Predictive Control Approach.

Carlos Mastalli, Wolfgang Merkt, Guiyang Xin, Jaehyun Shim, Michael N. Mistry, Ioannis Havoutis, Sethu Vijayakumar

CoRR, 2022

A feasibility-driven approach to control-limited DDP.

Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Henrique Ferrolho, Joan Solà, Nicolas Mansard, Sethu Vijayakumar

Auton. Robots, 2022

A Versatile Co-Design Approach For Dynamic Legged Robots.

Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

2021

Co-Designing Robots by Differentiating Motion Solvers.

Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar

CoRR, 2021

Design, analysis and control of the series-parallel hybrid RH5 humanoid robot.

Julian Eßer, Shivesh Kumar, Heiner Peters, Vinzenz Bargsten, Jose de Gea Fernandez, Carlos Mastalli, Olivier Stasse, Frank Kirchner

Proceedings of the 20th IEEE-RAS International Conference on Humanoid Robots, 2021

2020

Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality.

Michele Focchi, Romeo Orsolino, Marco Camurri, Victor Barasuol, Carlos Mastalli, Darwin G. Caldwell, Claudio Semini

Proceedings of the Advances in Robotics Research: From Lab to Market, 2020

Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping, and Whole-Body Control.

Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini

IEEE Trans. Robotics, 2020

A Direct-Indirect Hybridization Approach to Control-Limited DDP.

Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Joan Solà, Nicolas Mansard, Sethu Vijayakumar

CoRR, 2020

Motion Planning with Multi-Contact and Visual Servoing on Humanoid Robots.

Kevin Giraud-Esclasse, Pierre Fernbach, Gabriele Buondonno, Carlos Mastalli, Olivier Stasse

Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, 2020

Automatic Gait Pattern Selection for Legged Robots.

Jiayi Wang, Iordanis Chatzinikolaidis, Carlos Mastalli, Wouter Wolfslag, Guiyang Xin, Steve Tonneau, Sethu Vijayakumar

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Squash-Box Feasibility Driven Differential Dynamic Programming.

Josep Marti-Saumell, Joan Solà, Carlos Mastalli, Angel Santamaria-Navarro

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control.

Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Ludovic Righetti, Sethu Vijayakumar, Nicolas Mansard

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion.

Teguh Santoso Lembono, Carlos Mastalli, Pierre Fernbach, Nicolas Mansard, Sylvain Calinon

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

2019

Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging Terrain.

Shamel Fahmi, Carlos Mastalli, Michele Focchi, Claudio Semini

IEEE Robotics Autom. Lett., 2019

Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control.

Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Sethu Vijayakumar, Nicolas Mansard

CoRR, 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

2018

Application of Wrench-Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots.

Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini

IEEE Robotics Autom. Lett., 2018

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

Passivity Based Whole-body Control for Quadrupedal Locomotion on Challenging Terrain.

Shamel Fahmi, Carlos Mastalli, Michele Focchi, Claudio Semini

CoRR, 2018

Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality.

Michele Focchi, Romeo Orsolino, Marco Camurri, Victor Barasuol, Carlos Mastalli, Darwin G. Caldwell, Claudio Semini

CoRR, 2018

Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics.

Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard

Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots, 2018

2017

A Feasibility Metric for Trajectory Optimization of Legged Robots using Wrench Polytopes.

Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini

CoRR, 2017

The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP).

Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini

CoRR, 2017

Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion.

Carlos Mastalli, Michele Focchi, Ioannis Havoutis, Andreea Radulescu, Sylvain Calinon, Jonas Buchli, Darwin G. Caldwell, Claudio Semini

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Bio-inspired holistic control through modular relative Jacobian for combined four-arm robots.

Rodrigo S. Jamisola, Carlos Mastalli

Proceedings of the 18th International Conference on Advanced Robotics, 2017

2016

Hierarchical planning of dynamic movements without scheduled contact sequences.

Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

2015

On-line and on-board planning and perception for quadrupedal locomotion.

Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler, Darwin G. Caldwell, Claudio Semini

Proceedings of the 2015 IEEE International Conference on Technologies for Practical Robot Applications, 2015

Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain.

Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

2014

A Proposed Architecture for Autonomous Operations in Backhoe Machines.

Carlos Mastalli, Gerardo Fernández-López

Proceedings of the Intelligent Autonomous Systems 13, 2014