Research

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

2021

Drawing A Direct-Indirect Hybridization Approach to Control-Limited DDP. C. Mastalli, W. Merkt, J. Marti-Saumell, H. Ferrolho, J. Sola, N. Mansard, and S. Vijayakumar.
under-review, 2021
Drawing 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

2020

Drawing 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
Drawing 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
Drawing 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
Drawing 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
Drawing 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
Drawing 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

2019

Drawing 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

2018

Drawing 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
Drawing 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
Drawing 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

2017

Drawing 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
Drawing 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
Drawing 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

2016

Drawing 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

2015

Drawing 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
Drawing 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

2014

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

PhD Thesis

Drawing Planning and Execution of Dynamic Whole-Body Locomotion on Challenging Terrain. C. Mastalli
Istituto Italiano di Tecnologia

Master Thesis

Drawing Learning from Demonstration using Dynamic Movement Primitives in Excavator Robots. C. Mastalli
Simón Bolívar University