| 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 | 318 | 2020 |
| 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 | 183 | 2017 |
| 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 | 161 | 2015 |
| 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 | 129 | 2020 |
| 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 | 128 | 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 | 101 | 2018 |
| 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 | 100 | 2017 |
| 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 | 74 | 2020 |
| 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 | 74 | 2018 |
| 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 | 57 | 2022 |
| 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 | 50* | 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 | 49 | 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 | 43 | 2016 |
| Inverse-Dynamics MPC via Nullspace Resolution C Mastalli, SP Chhatoi, T Corbéres, S Tonneau, S Vijayakumar IEEE Transactions on Robotics, 2023 | 33 | 2023 |
| 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 | 27* | 2022 |
| 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 | 24 | 2021 |
| 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 | 22 | 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 | 22* | 2020 |
| 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 | 12 | 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 | 11 | 2023 |
Claudio SeminiHead of the Dynamic Legged Systems Lab at Istituto Italiano di TecnologiaVerified email at iit.it
