Optimal Control - Motion Planning - Trajectory Optimization
Reinforcement Learning - Machine Learning - Legged Robots
I am a robotics researcher working in the intersection of model predictive control and machine learning for motor control in legged robots. The aim of my research is to enable robots to move everywhere. In particular, I am focused on the problem of loco-manipulation tasks since it combines the main challenges in robot mobility. My research combines the formalism of model-base approach with the exploration of vast robot’s data.
I completed my PhD on “Planning and Execution of Dynamic Whole-Body Locomotion on Challenging Terrain” in April 2017 in the Dynamic Legged System lab at Istituto Italiano di Tecnologia. After that, I served as Research Fellow from April to December 2017. During this period, I mainly contributed to planning, perception and control framework for legged locomotion on challenging terrain. I also designed a considerably part of the HyQ’s software framework. In my career, I have spent fruitful time in different European research institutions: IIT (Genova), ETH Zurich, LAAS-CNRS, The University of Edinburgh and Tha Alan Turing Institute.
|Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control.
C. Mastalli, M. Focchi, I. Havoutis, D. G. Caldwell and C. Semini
IEEE Transactions on Robotics (T-RO), 2020
|Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control.
C. Mastalli, R. Budhiraja, W. Merkt, G. Saurel, B. Hammoud, M. Naveau, J. Carpentier, L. Righetti, S. Vijayakumar and N. Mansard
IEEE International Conference on Robotics and Automation (ICRA), 2020
|Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion.
C. Mastalli, M. Focchi, I. Havoutis, A. Radulescu, S. Calinon, J. Buchli, D. G. Caldwell and C. Semini
IEEE International Conference on Robotics and Automation (ICRA), 2017
|Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization.
B. Aceituno, C. Mastalli, H. Dai, M. Focchi, A. Radulescu, D. G. Caldwell, J. Cappelletto, J. C. Grieco, G. Fernandez and C. Semini
IEEE Robotics and Automation Letters (RA-L), 2017
|Application of Wrench based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots.
R. Orsolino, M. Focchi, C. Mastalli, H. Dai, D. G. Caldwell and C. Semini
IEEE Robotics and Automation Letters (RA-L), 2018