Carlos Mastalli
Carlos Mastalli
Alan Turing fellow, University of Edinburgh
Verifierad e-postadress på ed.ac.uk - Startsida
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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
862015
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
592017
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
422017
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
302020
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
30*2018
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
242018
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
242016
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
232015
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
192020
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
19*2019
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
182020
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
32016
Squash-Box Feasibility Driven Differential Dynamic Programming
J Marti-Saumell, J Sola, C Mastalli, A Santamaria-Navarro
3*
A Direct-Indirect Hybridization Approach to Control-Limited DDP
C Mastalli, W Merkt, J Marti-Saumell, J Sola, N Mansard, S Vijayakumar
arXiv preprint arXiv:2010.00411, 2020
22020
Planning and Execution of Dynamic Whole-Body Locomotion on Challenging Terrain.
C Mastalli
Istituto Italiano di Tecnologia, 2017
22017
A Proposed Architecture for Autonomous Operations in Backhoe Machines
C Mastalli, G Fernandez-Lopez
Autonomous Intelligent Systems 13, 2014
22014
An Imitation Learning Approach for Truck Loading Operations in Backhoe Machines
C Mastalli, J Cappelletto, R Acuña, Á Terrones, G Fernández-López
Proceedings of the 15th International Conference on Climbing and Walking …, 2012
22012
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, arXiv: 2001.11751, 2020
1*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
12017
Asymptotic Stability Method for PID Controller Tuning in a Backhoe Machine
C Mastalli, D Ralev, N Certad, G Fernandez-Lopez
ASME Dynamic Systems and Control Conference, 2013
12013
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Artiklar 1–20