Carlos Mastalli
Carlos Mastalli
Alan Turing Institute / University of Edinburgh
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Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain
AW Winkler, C Mastalli, I Havoutis, M Focchi, DG Caldwell, C Semini
Robotics and Automation (ICRA), 2015 IEEE International Conference on, 5148-5154, 2015
Simultaneous contact, gait, and motion planning for robust multilegged locomotion via mixed-integer convex optimization
B Aceituno-Cabezas, C Mastalli, H Dai, M Focchi, A Radulescu, ...
IEEE Robotics and Automation Letters 3 (3), 2531-2538, 2017
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control
C Mastalli, R Budhiraja, W Merkt, G Saurel, B Hammoud, M Naveau, ...
2020 IEEE 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, ...
International Conference on Robotics and Automation (ICRA), 2017
Passive whole-body control for quadruped robots: Experimental validation over challenging Terrain
S Fahmi, C Mastalli, M Focchi, C Semini
IEEE Robotics and Automation Letters 4 (3), 2553-2560, 2019
Differential dynamic programming for multi-phase rigid contact dynamics
R Budhiraja, J Carpentier, C Mastalli, N Mansard
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 1-9, 2018
Application of wrench-based feasibility analysis to the online trajectory optimization of legged robots
R Orsolino, M Focchi, C Mastalli, H Dai, DG Caldwell, C Semini
IEEE Robotics and Automation Letters 3 (4), 3363-3370, 2018
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, DG Caldwell, ...
Advances in Robotics Research: From Lab to Market, 165-209, 2020
Motion planning for quadrupedal locomotion: coupled planning, terrain mapping and whole-body control
C Mastalli, I Havoutis, M Focchi, DG Caldwell, C Semini
IEEE Transactions on Robotics, 2020
On-line and On-board Planning and Perception for Quadrupedal Locomotion
C Mastalli, I Havoutis, AW Winkler, DG Caldwell, C Semini
2015 IEEE International Conference on Technologies for Practical Robot …, 2015
Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences
C Mastalli, I Havoutis, M Focchi, DG Caldwell, C Semini
2016 IEEE International Conference on Robotics and Automation (ICRA), 2016
Squash-Box Feasibility Driven Differential Dynamic Programming
J Marti-Saumell, J Sola, C Mastalli, A Santamaria-Navarro
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020
A Direct-Indirect Hybridization Approach to Control-Limited DDP
C Mastalli, W Merkt, J Marti-Saumell, H Ferrolho, J Sola, N Mansard, ...
arXiv preprint arXiv:2010.00411, 2020
Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion
T Santoso Lembono, C Mastalli, P Fernbach, N Mansard, S Calinon
arXiv e-prints, arXiv: 2001.11751, 2020
Bio-inspired holistic control through modular relative Jacobian for combined four-arm robots
RS Jamisola, C Mastalli
2017 18th International Conference on Advanced Robotics (ICAR), 346-352, 2017
Modular relative jacobian for combined 3-arm parallel manipulators
RS Jamisola Jr, C Mastalli, F Ibikunle
International Journal of Mechanical Engineering and Robotics Research 5 (2 …, 2016
Co-Designing Robots by Differentiating Motion Solvers
T Dinev, C Mastalli, V Ivan, S Tonneau, S Vijayakumar
arXiv preprint arXiv:2103.04660, 2021
Automatic gait pattern selection for legged robots
J Wang, I Chatzinikolaidis, C Mastalli, W Wolfslag, G Xin, S Tonneau, ...
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2020
Planning and Execution of Dynamic Whole-Body Locomotion on Challenging Terrain.
C Mastalli
Istituto Italiano di Tecnologia, 2017
Motion planning with multi-contact and visual servoing on humanoid robots
K Giraud-Esclasse, P Fernbach, G Buondonno, C Mastalli, O Stasse
2020 IEEE/SICE International Symposium on System Integration (SII), 156-163, 2020
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