93 citations · 131 across the 3 of their papers we have counts for
6 papers
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control
Carlos Mastalli, Ioannis Havoutis, Michele Focchi +2
Planning whole-body motions while taking into account the terrain conditions is a challenging problem for legged robots since the terrain model might produce many local minima. Our…
Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion
Teguh Santoso Lembono, Carlos Mastalli, Pierre Fernbach +2
In this paper, we propose a framework to build a memory of motion for warm-starting an optimal control solver for the locomotion task of a humanoid robot. We use HPP Loco3D, a vers…
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control
Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt +7
We introduce Crocoddyl (Contact RObot COntrol by Differential DYnamic Library), an open-source framework tailored for efficient multi-contact optimal control. Crocoddyl efficiently…
Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain
Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis +3
We present a framework for dynamic quadrupedal locomotion over challenging terrain, where the choice of appropriate footholds is crucial for the success of the behaviour. We build…
On-line and on-board planning and perception for quadrupedal locomotion
Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler +2
We present a legged motion planning approach for quadrupedal locomotion over challenging terrain. We decompose the problem into body action planning and footstep planning. We use a…
The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP)
Romeo Orsolino, Michele Focchi, Carlos Mastalli +3
The motivation of our current research is to devise motion planners for legged locomotion that are able to exploit the robot's actuation capabilities. This means, when possible, to…