IIT Publications Search

Publications
2025
Zhao J., Tassi F., Huang Y., De Momi E., Ajoudani A.
A combined learning and optimization framework to transfer human whole-body loco-manipulation skills to mobile manipulators
Robotics and Autonomous Systems, vol. 189
DOI 10.1016/j.robot.2025.104958 Article Journal
2025
Lahr G., Sirintuna D., Tassi F., Ben Mor H., Ajoudani A.
A Non-parametric Approach to Exploring and Quantifying the Information Flow in Human-Robot Collaboration
ACM Transactions on Human-Robot Interaction
Article in Press Journal
2025
Lagomarsino M., Arbaud R., Tassi F., Ajoudani A.
Mitigating Compensatory Movements in Prosthesis Users via Adaptive Collaborative Robotics
IEEE-RAS-EMBS International Conference on Rehabilitation Robotics (ICORR
Conference Paper Conference
2025
Liao Z., Tassi F., Gong C., Leonori M., Zhao F., Jiang G., Ajoudani A.
Simultaneously Learning of Motion, Stiffness, and Force From Human Demonstration Based on Riemannian DMP and QP Optimization
IEEE Transactions on Automation Science and Engineering, vol. 22, pp. 7773-7785
DOI 10.1109/TASE.2024.3469961 Article Journal
2024
Tassi F., Ajoudani A.
A Distributed Processing Approach for Smooth Task Transitioning in Strict Hierarchical Control
Proceedings - IEEE International Conference on Robotics and Automation, pp. 9830-9836
DOI 10.1109/ICRA57147.2024.10610227 Conference Paper Conference
2024
Tassi F., Lahr G.J.G., Sirintuna D., Ajoudani A.
Evaluating leadership roles in human-robot interaction via highly dynamic collaborative tasks
IEEE International Workshop on Robot and Human Communication, RO-MAN, pp. 963-969
DOI 10.1109/RO-MAN60168.2024.10731284 Conference Paper Conference
2024
Tassi F., Giardini Lahr G., Sirintuna D., Ajoudani A.
Evaluating leadership roles in human-robot interaction via highly dynamic collaborative tasks
IEEE International Workshop on Robot and Human Communication, RO-MAN
Article Conference
2024
Tassi F., Ajoudani A.
Multi-Modal and Adaptive Robot Control through Hierarchical Quadratic Programming
Journal of Intelligent and Robotic Systems: Theory and Applications, vol. 110, (no. 4)
DOI 10.1007/s10846-024-02193-1 Article Journal
2023
Tassi F.
Hierarchical Control for Optimal Human-Robot Collaboration
PhD Thesis Book
2023
Zhao J., Lahr G.J.G., Tassi F., Santopaolo A., De Momi E., Ajoudani A.
Impact-Friendly Object Catching at Non-Zero Velocity Based on Combined Optimization and Learning
IEEE International Conference on Intelligent Robots and Systems, pp. 4428-4435
DOI 10.1109/IROS55552.2023.10341600 Conference Paper Conference
2022
Tassi F., De Momi E., Ajoudani A.
An adaptive compliance Hierarchical Quadratic Programming controller for ergonomic human–robot collaboration
Robotics and Computer-Integrated Manufacturing, vol. 78
DOI 10.1016/j.rcim.2022.102381 Article Journal
2022
Tassi F., Gholami S., Giudice S., Ajoudani A.
Impact Planning and Pre-configuration based on Hierarchical Quadratic Programming
Proceedings - IEEE International Conference on Robotics and Automation, pp. 1433-1439
DOI 10.1109/ICRA46639.2022.9811681 Conference Paper Conference
2022
Tassi F., Iodice F., De Momi E., Ajoudani A.
Sociable and Ergonomic Human-Robot Collaboration through Action Recognition and Augmented Hierarchical Quadratic Programming
IEEE International Conference on Intelligent Robots and Systems, vol. 2022-October, pp. 10712-10719
DOI 10.1109/IROS47612.2022.9982160 Conference Paper Conference
2021
Gholami S., Tassi F., De Momi E., Ajoudani A.
A Reconfigurable Interface for Ergonomic and Dynamic Tele-Locomanipulation
IEEE International Conference on Intelligent Robots and Systems, pp. 4260-4267
DOI 10.1109/IROS51168.2021.9636775 Conference Paper Conference
2021
Tassi F., de Momi E., Ajoudani A.
Augmented Hierarchical Quadratic Programming for Adaptive Compliance Robot Control
Proceedings - IEEE International Conference on Robotics and Automation, vol. 2021-May, pp. 3568-3574
DOI 10.1109/ICRA48506.2021.9561506 Conference Paper Conference