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Motion planning for quadrupedal locomotion: coupled planning, terrain mapping and whole-body control

 Carlos Mastalli , Ioannis Havoutis , Michele G Focchi , Darwin G Caldwell , Claudio G Semini
2018
Pré-publication, Document de travail hal-01673438v3

Design, analysis and control of the series-parallel hybrid RH5 humanoid robot

 Julian Esser , Shivesh Kumar , Heiner Peters , Vinzenz Bargsten , Jose de Gea Fernandez , et al.
2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), Jul 2021, Munich, Germany. ⟨10.1109/HUMANOIDS47582.2021.9555770⟩
Communication dans un congrès hal-03420889v1
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Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality

 Michele Focchi , Romeo G Orsolino , Marco Camurri , Victor Barasuol , Carlos Mastalli , et al.
Springer Track in Advanced Robotics series, 2018
Chapitre d'ouvrage hal-02086090v1

Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion

 Teguh Santoso Lembono , Carlos Mastalli , Pierre Fernbach , Nicolas Mansard , Sylvain Calinon
IEEE International Conference on Robotics and Automation (ICRA 2020), May 2020, Paris (virtual), France. ⟨10.1109/ICRA40945.2020.9196727⟩
Communication dans un congrès hal-02973174v1
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Passive Whole-body Control for Quadruped Robots: Experimental Validation over Challenging Terrain

 Shamel Fahmi , Carlos Mastalli , Michele Focchi , Claudio Semini
IEEE Robotics and Automation Letters, 2019, 4 (3), pp.2553-2560. ⟨10.1109/LRA.2019.2908502⟩
Article dans une revue hal-02086071v1
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Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain

 Alexander W Winkler , Carlos Mastalli , Ioannis Havoutis , Michele Focchi , Darwin G. Caldwell , et al.
IEEE International Conference on Robotics and Automation (ICRA), May 2015, Seattle, United States
Communication dans un congrès hal-01661774v1
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Application of Wrench based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots

 Romeo G Orsolino , Michele Focchi , Carlos Mastalli , Hongkai Dai , Darwin Caldwell , et al.
IEEE Robotics and Automation Letters, 2018, 3 (4), pp.3363-3370. ⟨10.1109/LRA.2018.2836441⟩
Article dans une revue hal-02086079v1
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On-line and On-board Planning and Perception for Quadrupedal Locomotion

 Carlos Mastalli , Ioannis Havoutis , Alexander W Winkler , Darwin Caldwell , Claudio Semini
IEEE International Conference of Technologies for Practical Robot Applications (TEPRA), May 2015, Boston, United States
Communication dans un congrès hal-01661837v1
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Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics

 Rohan Budhiraja , Justin Carpentier , Carlos Mastalli , Nicolas Mansard
IEEE-RAS International Conference on Humanoid Robots (Humanoids 2018), Nov 2018, Beijing, China. ⟨10.1109/HUMANOIDS.2018.8624925⟩
Communication dans un congrès hal-01851596v2
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Motion Planning with Multi-Contact and Visual Servoing on Humanoid Robots

 Kevin Giraud--Esclasse , Pierre Fernbach , Gabriele Buondonno , Carlos Mastalli , Olivier Stasse
SII 2020 - International Symposium on System Integration, Jan 2020, Honolulu, United States
Communication dans un congrès hal-02383130v1
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Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization

 Bernardo Aceituno-Cabezas , Carlos Mastalli , Hongkai Dai , Michele Focchi , Andreea Radulescu , et al.
IEEE Robotics and Automation Letters, 2017, pp.1 - 1. ⟨10.1109/LRA.2017.2779821⟩
Article dans une revue hal-01674935v1
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Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion

 Carlos Mastalli , Michele Focchi , Ioannis Havoutis , Andreea Radulescu , Sylvain Calinon , et al.
IEEE International Conference on Robotics and Automation (ICRA), May 2017, Singapore, Singapore
Communication dans un congrès hal-01661847v1

Crocoddyl: Fast computation, Efficient solvers,Receding horizon and Learning

 Rohan Budhiraja , Amit Parag , Ewen Dantec , Justin Carpentier , Carlos Mastalli , et al.
Journées Nationales de la Robotique Humanoïde, May 2020, Paris (virtual), France
Communication dans un congrès hal-02898916v1
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Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control

 Carlos Mastalli , Rohan Budhiraja , Wolfgang Merkt , Guilhem Saurel , Bilal Hammoud , et al.
ICRA 2020 IEEE International Conference on Robotics and Automation, May 2020, Paris / Virtual, France. ⟨10.1109/ICRA40945.2020.9196673⟩
Communication dans un congrès hal-02294059v1

Motion planning for challenging locomotion: a study of decoupled and coupled approaches

 Carlos Mastalli , Ioannis Havoutis , Michele Focchi , Darwin Caldwell , Claudio Semini
2017
Pré-publication, Document de travail hal-01649836v1
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Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences

 Carlos Mastalli , Ioannis Havoutis , Michele Focchi , Darwin G. Caldwell , Claudio Semini
IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden
Communication dans un congrès hal-01661861v1
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