A Proposed Architecture for Autonomous Operations in Backhoe Machines. - Carlos Mastalli; Gerardo Fernández-López (IAS, 2014)

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 (ICRA, 2015)

On-line and on-board planning and perception for quadrupedal locomotion. - Carlos Mastalli; Ioannis Havoutis; Alexander W. Winkler; Darwin G. Caldwell; Claudio Semini (TePRA, 2015)

Hierarchical planning of dynamic movements without scheduled contact sequences. - Carlos Mastalli; Ioannis Havoutis; Michele Focchi; Darwin G. Caldwell; Claudio Semini (ICRA, 2016)

Bio-inspired holistic control through modular relative Jacobian for combined four-arm robots. - Rodrigo S. Jamisola; Carlos Mastalli (ICAR, 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 (ICRA, 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)

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)

Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics. - Rohan Budhiraja; Justin Carpentier; Carlos Mastalli; Nicolas Mansard (Humanoids, 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)

Passivity Based Whole-body Control for Quadrupedal Locomotion on Challenging Terrain. - Shamel Fahmi; Carlos Mastalli; Michele Focchi; Claudio Semini (CoRR, 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)

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 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)

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)

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)

Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion. - Teguh Santoso Lembono; Carlos Mastalli; Pierre Fernbach; Nicolas Mansard; Sylvain Calinon (ICRA, 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 (ICRA, 2020)

Squash-Box Feasibility Driven Differential Dynamic Programming. - Josep Marti-Saumell; Joan Solà; Carlos Mastalli; Angel Santamaria-Navarro (IROS, 2020)

Automatic Gait Pattern Selection for Legged Robots. - Jiayi Wang; Iordanis Chatzinikolaidis; Carlos Mastalli; Wouter Wolfslag; Guiyang Xin; Steve Tonneau; Sethu Vijayakumar (IROS, 2020)

Motion Planning with Multi-Contact and Visual Servoing on Humanoid Robots. - Kevin Giraud-Esclasse; Pierre Fernbach; Gabriele Buondonno; Carlos Mastalli; Olivier Stasse (SII, 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 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)

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 (ECHORD++, 2020)

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 (HUMANOIDS, 2021)

Co-Designing Robots by Differentiating Motion Solvers. - Traiko Dinev; Carlos Mastalli; Vladimir Ivan; Steve Tonneau; Sethu Vijayakumar (CoRR, 2021)

A Versatile Co-Design Approach For Dynamic Legged Robots. - Traiko Dinev; Carlos Mastalli; Vladimir Ivan; Steve Tonneau; Sethu Vijayakumar (IROS, 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)

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)

Differentiable Optimal Control via Differential Dynamic Programming. - Traiko Dinev; Carlos Mastalli; Vladimir Ivan; Steve Tonneau; Sethu Vijayakumar (CoRR, 2022)

Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection. - Jaehyun Shim; Carlos Mastalli; Thomas Corbères; Steve Tonneau; Vladimir Ivan; Sethu Vijayakumar (ICRA, 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)

Inverse-Dynamics MPC via Nullspace Resolution. - Carlos Mastalli; Saroj Prasad Chhatoi; Thomas Corbères; Steve Tonneau; Sethu Vijayakumar (IEEE Trans. Robotics, 2023)

Optimal Control for Articulated Soft Robots. - Saroj Prasad Chhatoi; Michele Pierallini; Franco Angelini; Carlos Mastalli; Manolo Garabini (IEEE Trans. Robotics, 2023)

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 (L4DC, 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)

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 (CoRR, 2024)

Multi-Contact Inertial Estimation and Localization in Legged Robots. - Sergi Martinez; Robert J. Griffin; Carlos Mastalli (CoRR, 2024)

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 (CoRR, 2025)

Multi-Contact Inertial Parameters Estimation and Localization in Legged Robots. - Sergi Martinez; Robert J. Griffin; Carlos Mastalli (IEEE Robotics Autom. Lett., 2025)