Publications - Carlos Mastalli

Research

You can find a short description and extra material of each paper by clicking on the title.

A Feasibility-Driven Approach to Control-Limited DDP. C. Mastalli, W. Merkt, J. Marti-Saumell, H. Ferrolho, J. Sola, N. Mansard, and S. Vijayakumar.
Autonomous Robots (AuRo), 2022

Design, analysis and control of the series-parallel hybrid RH5 humanoid robot. J. Esser, S. Kumar, H. Peters, V. Bargsten, J. de Gea Fernandez, C. Mastalli, O. Stasse, and F. Kirchner.
IEEE-RAS International Conference on Humanoid Robots (ICHR), 2021

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
	Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion. T. Lembono, C. Mastalli, P. Fernbach, N. Mansard and S. Calinon IEEE International Conference on Robotics and Automation (ICRA), 2020
	Automatic Gait Pattern Selection for Legged Robots. J. Wang, I. Chatzinikolaidis, C. Mastalli, W. Wolfslag, G. Xin, S. Tonneau and S. Vijayakumar IEEE International Conference on Intelligent Robots and Systems (IROS), 2020
	Squash-Box Feasibility Driven Differential Dynamic Programming. J. Marti-Saumell, J. Solà, C. Mastalli and A. Santamaria-Navarro IEEE International Conference on Intelligent Robots and Systems (IROS), 2020
	Motion Planning with Multi-Contact and Visual Servoing on Humanoid Robots. K. Giraud-Esclasse, P. Fernbach, G. Buondonno, C. Mastalli and O. Stasse International Symposium on System Integration (SII), 2020

Passive Whole-body Control for Quadruped Robots: Experimental Validation over Challenging Terrain. S. Fahmi^†, C. Mastalli^†, M. Focchi, D. G. Caldwell and C. Semini
IEEE Robotics and Automation Letters (RA-L), 2019

	Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality. M. Focchi, R. Orsolino, M. Camurri, V. Barasuol, C. Mastalli, D. G. Caldwell and C. Semini Springer Tracts in Advanced Robotics (STAR), 2018
	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
	Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics. R. Budhiraja, J. Carpentier, C. Mastalli and N. Mansard IEEE-RAS International Conference on Humanoid Robots (ICHR), 2018

	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
	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
	Bio-inspired holistic control through modular relative Jacobian for combined four-arm robots. R. Jamisola and C. Mastalli. International Conference on Advanced Robotics (ICAR), 2017

Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences. C. Mastalli, I. Havoutis, M. Focchi, D. Caldwell and C. Semini.
IEEE International Conference on Robotics and Automation (ICRA), 2016

	Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain. A. W. Winkler, C. Mastalli, I. Havoutis, M. Focchi, D. Caldwell and C. Semini. IEEE International Conference on Robotics and Automation (ICRA), 2015
	On-line and on-board planning and perception for quadrupedal locomotion. C. Mastalli, A. W. Winkler, I. Havoutis, M. Focchi, D. Caldwell and C. Semini. IEEE International Conference on Technologies for Practical Robot Applications (TePRA), 2015

	A Proposed Architecture for Autonomous Operations in Backhoe Machines. C. Mastalli and G. Fernández-López. International Conference on Intelligent Autonomous Systems (IAS-13), 2014
	Extracting Points Features from Laser Rangefinder Data based on Hough Transform. N. Certad, C. Mastalli, J. Cappelletto and J.C. Grieco. IEEE ANDESCON, 2014