Research output per year
Research output per year
Personal profile
Research interests
Carlos Mastalli is an Assistant Professor at Heriot-Watt University, UK, and a Research Scientist at the Florida Institute for Human & Machine Cognition (IHMC), USA. He is the Head of the Robot Motor Intelligence (RoMI) Lab and has pioneered algorithms for motor intelligence in legged robotics in the last 10 years. Over these years, Carlos conducted cutting-edge research in several world-leading labs: IIT (Italy), LAAS-CNRS (France), ETH Zürich (Switzerland), and the U. of Edinburgh (UK). He supports open science, building a large community around our Crocoddyl optimal control library. Carlos is specialized in legged robotics, optimal control and numerical optimization, and has pioneering work in these fields.
External positions
Fellow, Florida Institute for Human and Machine Cognition
1 Jun 2023 → …
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Collaborations and top research areas from the last five years
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Morphological Symmetries in Robotics
Ordoñez-Apraez, D., Turrisi, G., Kostic, V., Martin, M., Agudo, A., Moreno-Noguer, F., Pontil, M., Semini, C. & Mastalli, C., 10 Jan 2025, (E-pub ahead of print) In: International Journal of Robotics Research.Research output: Contribution to journal › Article › peer-review
Open AccessFile117 Downloads (Pure) -
Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling
Ordoñez-Apraez, D. F., Kostic, V., Turrisi, G., Novelli, P., Mastalli, C., Semini, C. & Pontil, M., 11 Jun 2024, In: Proceedings of Machine Learning Research. 242, p. 1318-1329 12 p.Research output: Contribution to journal › Conference article › peer-review
Open Access1 Citation (Scopus) -
Multi-Contact Inertial Estimation and Localization in Legged Robots
Martinez, S., Griffin, R. & Mastalli, C., 25 Mar 2024, arXiv.Research output: Working paper › Preprint
File45 Downloads (Pure) -
Reference-Free Model Predictive Control for Quadrupedal Locomotion
Lunardi, G., Corberes, T., Mastalli, C., Mansard, N., Flayols, T., Tonneau, S. & del Prete, A., 2024, In: IEEE Access. 12, p. 689-698 10 p.Research output: Contribution to journal › Article › peer-review
Open AccessFile1 Citation (Scopus)105 Downloads (Pure) -
Inverse-Dynamics MPC via Nullspace Resolution
Mastalli, C., Chhatoi, S. P., Corbéres, T., Tonneau, S. & Vijayakumar, S., Aug 2023, In: IEEE Transactions on Robotics. 39, 4, p. 3222-3241 20 p.Research output: Contribution to journal › Article › peer-review
Open AccessFile18 Citations (Scopus)93 Downloads (Pure)
Equipment
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B1 robot
Mastalli, C. (Manager)
School of Engineering & Physical SciencesFacility/equipment: Equipment
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Go1 robot
Mastalli, C. (Manager)
School of Engineering & Physical SciencesFacility/equipment: Equipment
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Z1 pro robot
Mastalli, C. (Manager)
School of Engineering & Physical SciencesFacility/equipment: Equipment