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Carlos Mastalli
Carlos Mastalli
Research Scientist, Heriot-Watt University and IHMC
Verifisert e-postadresse på hw.ac.uk - Startside
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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
3442020
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
1842017
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
1622015
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
1422020
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
1372019
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
1072018
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
1022017
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: ECHORD++: Robotic science …, 2020
792020
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
742018
Agile maneuvers in legged robots: a predictive control approach
C Mastalli, W Merkt, G Xin, J Shim, M Mistry, I Havoutis, S Vijayakumar
arXiv preprint arXiv:2203.07554, 2022
602022
A feasibility-driven approach to control-limited DDP
C Mastalli, W Merkt, J Marti-Saumell, H Ferrolho, J Solà, N Mansard, ...
Autonomous Robots 46 (8), 985-1005, 2022
52*2022
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
482015
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
452016
Inverse-Dynamics MPC via Nullspace Resolution
C Mastalli, SP Chhatoi, T Corbéres, S Tonneau, S Vijayakumar
IEEE Transactions on Robotics, 2023
372023
Design, analysis and control of the series-parallel hybrid RH5 humanoid robot
J Eβer, S Kumar, H Peters, V Bargsten, J de Gea Fernandez, C Mastalli, ...
2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids …, 2021
322021
A versatile co-design approach for dynamic legged robots
T Dinev, C Mastalli, V Ivan, S Tonneau, S Vijayakumar
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2022
31*2022
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
252020
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
25*2020
Perceptive locomotion through whole-body mpc and optimal region selection
T Corbères, C Mastalli, W Merkt, I Havoutis, M Fallon, N Mansard, ...
arXiv preprint arXiv:2305.08926, 2023
132023
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
132020
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