Below, there is list of the publications that describe or use different components of Crocoddyl:
[1] C. Mastalli, R. Budhiraja, W. Merkt, G. Saurel, B. Hammoud, M. Naveau, J. Carpentier, L. Righetti, S. Vijayakumar and N. Mansard. Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control, IEEE International Conference on Robotics and Automation (ICRA), 2020
[2] C. Mastalli, W. Merkt, J. Marti-Saumell, H. Ferrolho, J. Sola, N. Mansard and S. Vijayakumar. A Feasibility-Driven Approach to Control-Limited DDP, Autonomous Robots, 2022
[3] C. Mastalli, S. P. Chhatoi, T. Corbères, S. Tonneau and S. Vijayakumar. Inverse-Dynamics MPC via Nullspace Resolution, IEEE Transactions on Robotics (TRO), 2023
[4] M. Parilli, S. Martinez, and C.Mastall. Endpoint-Explicit Differential Dynamic Programming via Exact Resolution, IEEE International Conference on Robotics and Automation (ICRA), 2025.
[5] S. Martinez, R. Griffin, and C.Mastalli. Multi-Contact Inertial Parameters Estimation and Localization in Legged Robots, IEEE Robotics and Automation Letters (RAL), 2025.
Here, there is a list of other contributions that were possible thanks to Crocoddyl:
R. Budhiraja, J. Carpentier, C. Mastalli and N. Mansard. Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics, IEEE RAS International Conference on Humanoid Robots (ICHR), 2018
R. Budhiraja, J. Carpentier and N. Mansard. Dynamics Consensus between Centroidal and Whole-Body Models for Locomotion of Legged Robots, IEEE International Conference on Automation and Robotics (ICRA), 2019
J. Martin-Saumell, J. Sola, C. Mastalli, and A. Santamaria-Navarro. Squash-Box Feasibility Driven Differential Dynamic Programming, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
S. Kleff, J. Carpentier, N. Mansard and L. Righetti, On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos, IEEE/RAS International Conference on Humanoid Robots (Humanoids), 2022
C. Mastalli, W. Merkt, G. Xin, J. Shim, M. Mistry, I. Havoutis and S. Vijayakumar. Agile Maneuvers in Legged Robots: a Predictive Control Approach, 2022
E. Dantec, R. Budhiraja, A. Roig, T.S. Lembono, G. Saurel, O. Stasse, P. Fernbach, S. Tonneau, S. Vijayakumar, S. Calinon, M. Taïx, N. Mansard. Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos, IEEE International Conference on Robotics and Automation (ICRA), 2021
T. Corbères, T. Flayols, P.A. Léziart, R. Budhiraja, N. Mansard Comparison of predictive controllers for locomotion and balance recovery of quadruped robots, IEEE International Conference on Robotics and Automation (ICRA), 2021
S. Kleff, A. Meduri, R. Budhiraja, N. Mansard and L. Righetti. High-Frequency Nonlinear Model Predictive Control of a Manipulator, IEEE International Conference on Robotics and Automation (ICRA), 2021
T.S. Lembono, C. Mastalli, P. Fernbach, N. Mansard and S. Calinon. Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion, IEEE International Conference on Robotics and Automation (ICRA), 2020
T. Dinev, C. Mastalli, V. Ivan, S. Tonneau and S. Vijayakumar. A Versatile Co-Design Approach For Dynamic Legged Robots, IEEE International Conference on Intelligent Robots and Systems, 2022
G Fadini, T Flayols, A del Prete, N Mansard, P Souères. Computational design of energy-efficient legged robots: Optimizing for size and actuators, IEEE International Conference on Robotics and Automation (ICRA), 2021
M. Boukheddimi, R. Budhiraja, P. Souères and B. Watier. Anthropomorphic Gait Generation using Differential Dynamic Programming with a Reduced Number of Cost Criteria, 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 2020