Multi-task closed-loop inverse kinematics stability through semidefinite programming. - Josep Marti-Saumell; Angel Santamaria-Navarro; Carlos Ocampo-Martinez; Juan Andrade-Cetto (ICRA, 2020)

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

Full-Body Torque-Level Non-linear Model Predictive Control for Aerial Manipulation. - Josep Marti-Saumell; Joan Solà; Angel Santamaria-Navarro; Juan Andrade-Cetto (CoRR, 2021)

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)

Borinot: an agile torque-controlled robot for hybrid flying and contact loco-manipulation (workshop version). - Josep Marti-Saumell; Joan Solà; Angel Santamaria-Navarro; Hugo Duarte (CoRR, 2023)

Borinot: an open thrust-torque-controlled robot for research on agile aerial-contact motion. - Josep Marti-Saumell; Hugo Duarte; Patrick Grosch; Juan Andrade-Cetto; Angel Santamaria-Navarro; Joan Solà (CoRR, 2023)

Agile aerial manipulation: an approach based on full-body dynamics and model predictive control - Josep Marti-Saumell (2024)