Carlos Mastalli

Orcid: 0000-0002-0725-4279

According to our database1, Carlos Mastalli authored at least 38 papers between 2014 and 2024.

Collaborative distances:
  • Dijkstra number2 of four.
  • Erdős number3 of four.

Timeline

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Bibliography

2024
Multi-Contact Inertial Estimation and Localization in Legged Robots.
CoRR, 2024

Morphological Symmetries in Robotics.
CoRR, 2024

Reference-Free Model Predictive Control for Quadrupedal Locomotion.
IEEE Access, 2024

Dynamics harmonic analysis of robotic systems: Application in data-driven Koopman modelling.
Proceedings of the 6th Annual Learning for Dynamics & Control Conference, 2024

2023
Optimal Control for Articulated Soft Robots.
IEEE Trans. Robotics, October, 2023

Inverse-Dynamics MPC via Nullspace Resolution.
IEEE Trans. Robotics, August, 2023

Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection.
CoRR, 2023

Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

2022
Differentiable Optimal Control via Differential Dynamic Programming.
CoRR, 2022

Agile Maneuvers in Legged Robots: a Predictive Control Approach.
CoRR, 2022

A feasibility-driven approach to control-limited DDP.
Auton. Robots, 2022

A Versatile Co-Design Approach For Dynamic Legged Robots.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

2021
Co-Designing Robots by Differentiating Motion Solvers.
CoRR, 2021

Design, analysis and control of the series-parallel hybrid RH5 humanoid robot.
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.
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.
IEEE Trans. Robotics, 2020

A Direct-Indirect Hybridization Approach to Control-Limited DDP.
CoRR, 2020

Motion Planning with Multi-Contact and Visual Servoing on Humanoid Robots.
Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, 2020

Automatic Gait Pattern Selection for Legged Robots.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Squash-Box Feasibility Driven Differential Dynamic Programming.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control.
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.
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.
IEEE Robotics Autom. Lett., 2019

Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control.
CoRR, 2019

Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization.
CoRR, 2019

2018
Application of Wrench-Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots.
IEEE Robotics Autom. Lett., 2018

Simultaneous Contact, Gait, and Motion Planning for Robust Multilegged Locomotion via Mixed-Integer Convex Optimization.
IEEE Robotics Autom. Lett., 2018

Passivity Based Whole-body Control for Quadrupedal Locomotion on Challenging Terrain.
CoRR, 2018

Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality.
CoRR, 2018

Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics.
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.
CoRR, 2017

The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP).
CoRR, 2017

Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion.
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.
Proceedings of the 18th International Conference on Advanced Robotics, 2017

2016
Hierarchical planning of dynamic movements without scheduled contact sequences.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

2015
On-line and on-board planning and perception for quadrupedal locomotion.
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.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

2014
A Proposed Architecture for Autonomous Operations in Backhoe Machines.
Proceedings of the Intelligent Autonomous Systems 13, 2014


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