Carlos Mastalli

I am a robotics researcher in the Gepetto Team at LAAS-CNRS working on the topic of multi-contact planning and control in legged robots. My main motivation is to enable robots to move everywhere. In particular, I am focused on legged locomotion since it combines all the main challenges in robot mobility: high-dimensional and unactuated systems, discontinuous dynamics, robot interaction and perception. For that, I am interested in methods that combine optimal control and machine learning, allowing us to explore the knowledge of the system but also the vast robot’s data.

I completed my PhD on “Planning and Execution of Dynamic Whole-Body Locomotion on Challenging Terrain” in April 2017 in the Dynamic Legged System lab at Istituto Italiano di Tecnologia. After that, I served as Research Fellow from April to December 2017. During this period, I mainly contributed to planning, perception and control framework for legged locomotion on challenging terrain. He also considerably contributed to the software development of the team.

For more information about my background, research and software please visit


Optimal Control - Motion Planning - Trajectory Optimization - Reinforcement Learning - Legged Robots - Perception