Carlos Mastalli

収録論文 28本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• Elastic ODYN: Differentiable Optimization for Infeasible Control and Learning in Robotics
  2026/6/1
• ODYN: An All-Shifted Non-Interior-Point Method for Quadratic Programming in Robotics and AI
  2026/2/1
• System Identification under Constraints and Disturbance: A Bayesian Estimation Approach
  2026/2/1
• Endpoint-Explicit Differential Dynamic Programming via Exact Resolution
  2025/3/1
• Multi-Contact Inertial Parameters Estimation and Localization in Legged Robots
  2024/3/1
• Morphological Symmetries in Robotics
  2024/2/1
• Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling
  2023/12/1
• Optimal Control for Articulated Soft Robots
  2023/6/1
• Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
  2023/5/1
• Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection
  2023/3/1
• Differentiable Optimal Control via Differential Dynamic Programming
  2022/9/1
• Inverse-Dynamics MPC via Nullspace Resolution
  2022/9/1
• Agile Maneuvers in Legged Robots: a Predictive Control Approach
  2022/3/1
• A Versatile Co-Design Approach For Dynamic Legged Robots
  2021/3/1
• Design, analysis and control of the series-parallel hybrid RH5 humanoid robot
  2021/1/1
• A Feasibility-Driven Approach to Control-Limited DDP
  2020/10/1
• Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control
  2020/3/1
• Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion
  2020/1/1
• Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control
  2019/9/1
• Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics
  2019/4/1
• Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization
  2019/4/1
• On-line and on-board planning and perception for quadrupedal locomotion
  2019/4/1
• Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain
  2019/4/1
• Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences
  2019/4/1
• Passive Whole-body Control for Quadruped Robots: Experimental Validation over Challenging Terrain
  2018/11/1
• Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality
  2018/5/1
• Application of Wrench based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots
  2017/12/1
• The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP)
  2017/12/1