Francesco Tassi

Experience

• 

  NASA Jet Propulsion Laboratory

  Sept 2017 - Mar 2018

  Internship

  Modeling and control of a multibody robotic system, aimed at the realization of an orbiting space-based observatory with large aperture and reconfigurable structure. Topics covered: Model Predictive Control (MPC), path planning, Kalman filtering and optimal estimation, Sequential Convex Programming (SCP), stochastic control algorithms (e.g. Optimal Transport), confinement of a cloud of passive orbiting granular media using stochastic control logics. Tools: Matlab, Python, DARTS.

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  Consiglio Nazionale delle Ricerche

  Sept 2018 - Jan 2020

  Research Fellow

  – Development of a Model Predictive Control (MPC) logic using Adaptive and Time-Varying MPC features, with Kalman filtering techniques, for the online computation of the nonlinear system dynamics along the future time horizon.– Control of a redundant robotic manipulator using robot's Inverse Kinematics in a QP minimization problem .– ROS framework for simulation (Rviz, Gazebo, MoveIt) and robot control.– GPU parallelization and deployment of the MPC on the Nvidia Jetson TX2 Developer Kit board for reduced computational time.– Teleoperation of a ROS TurtleBot2 mobile robot to test the real-time robot-robot interaction and obstacle avoidance of the MPC. Show less

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  Istituto Italiano di Tecnologia

  Feb 2020 - now

  PhD student at the Human-Robot Interfaces and Physical Interaction (HRII) laboratory of the Istituto Italiano di Tecnologia (IIT).Keywords: advanced robotics, control, human-robot interaction.

  • Postdoctoral Researcher

    Jul 2023 - now

  • PHD Graduate Student

    Feb 2020 - now
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  Human-Robot Interfaces and Interaction

  Jul 2023 - now

  Postdoctoral Researcher