Journal Publications

DynaMimicGen: A Data Generation Framework for Robot Learning of Dynamic Tasks
Vincenzo Pomponi, Paolo Franceschi, Stefano Baraldo, Oliver Avram, Loris Roveda, Luca Maria Gambardella, and Anna Valente
IEEE Robotics and Automation Letters, 2026.

Efficient human–robot collaborative manipulation of planar deformable objects
Enrico Villagrossi, Paolo Franceschi, Giorgio Nicola, and Nicola Pedrocchi
Journal of Manufacturing Systems, 2025.

Design of an assistive controller for physical human–robot interaction based on cooperative game theory and human intention estimation
Paolo Franceschi, Davide Cassinelli, Nicola Pedrocchi, Manuel Beschi, and Paolo Rocco
IEEE Transactions on Automation Science and Engineering, 2024.

Identification of human control law during physical human–robot interaction
Paolo Franceschi, Nicola Pedrocchi, and Manuel Beschi
Mechatronics, 2023.

Human-robot role arbitration via differential game theory
Paolo Franceschi, Nicola Pedrocchi, and Manuel Beschi
IEEE Transactions on Automation Science and Engineering, 2023.

A framework for cyber-physical production system management and digital twin feedback monitoring for fast failure recovery - [pdf]
Paolo Franceschi, Stefano Mutti, Kiara Ottogalli, Daniel Rosquete, Diego Borro, and Nicola Pedrocchi
International Journal of Computer Integrated Manufacturing, 2022.

Optimal design of robotic work-cell through hierarchical manipulability maximization
Paolo Franceschi, Stefano Mutti, and Nicola Pedrocchi
Robotics and Computer-Integrated Manufacturing, 2022.

Model-based reinforcement learning variable impedance control for human-robot collaboration
Loris Roveda, Jeyhoon Maskani, Paolo Franceschi, Arash Abdi, Francesco Braghin, Lorenzo Molinari Tosatti, and Nicola Pedrocchi
Journal of Intelligent & Robotic Systems, 2020.

Precise robotic manipulation of bulky components
Paolo Franceschi, Nicola Castaman, Stefano Ghidoni, and Nicola Pedrocchi
IEEE Access, 2020.

Conference Publications

Human-robot collaborative transport personalization via Dynamic Movement Primitives and velocity scaling
Paolo Franceschi, Andrea Bussolan, Vincenzo Pomponi, Oliver Avram, Stefano Baraldo, and Anna Valente
34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2025.

Modeling and Analysis of pHRI with Differential Game Theory - [preprint]
Paolo Franceschi, Manuel Beschi, Nicola Pedrocchi, and Anna Valente
21st International Conference on Advanced Robotics (ICAR), 2023.

Human preferences’ optimization in pHRI collaborative tasks
Paolo Franceschi, Marco Maccarini, Dario Piga, Manuel Beschi, and Loris Roveda
20th international conference on ubiquitous robots (UR), 2023.

Learning human motion intention for phri assistive control - [preprint]
Paolo Franceschi, Fabio Bertini, Francesco Braghin, Loris Roveda, Nicola Pedrocchi, and Manuel Beschi
IEEE/RSJ international conference on intelligent robots and systems (IROS), 2023.

Adaptive impedance controller for human-robot arbitration based on cooperative differential game theory - [pdf]
Paolo Franceschi, Nicola Pedrocchi, and Manuel Beschi
International Conference on Robotics and Automation (ICRA), 2022.

Inverse optimal control for the identification of human objective: a preparatory study for physical human-robot interaction
Paolo Franceschi, Nicola Pedrocchi, and Manuel Beschi
IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA), 2022.

Combining visual and force feedback for the precise robotic manipulation of bulky components
Paolo Franceschi and Nicola Castaman
Multimodal Sensing and Artificial Intelligence: Technologies and Applications II, 2021.

A control framework definition to overcome position/interaction dynamics uncertainties in force-controlled tasks - [pdf]
Loris Roveda, Nicola Castaman, Paolo Franceschi, Stefano Ghidoni, and Nicola Pedrocchi
IEEE International Conference on Robotics and Automation (ICRA), 2020.

Human-robot cooperative interaction control for the installation of heavy and bulky components
Loris Roveda, Nicola Castaman, Stefano Ghidoni, Paolo Franceschi, Nicolò Boscolo, Enrico Pagello, and Nicola Pedrocchi
IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2018.

Preprints

From Vision to Assistance: Gaze and Vision-Enabled Adaptive Control for a Back-Support Exoskeleton
Alessandro Leanza, Paolo Franceschi, Blerina Spahiu, and Loris Roveda
arXiv preprint arXiv:2602.04648, 2026.

ros2 fanuc interface: Design and Evaluation of a Fanuc CRX Hardware Interface in ROS2
Paolo Franceschi, Marco Faroni, Stefano Baraldo, and Anna Valente
arXiv preprint arXiv:2506.14487, 2025.

Ph.D. thesis

Human modeling, Game Theory, and Role Arbitration for physical Human-Robot Interaction
Paolo Franceschi
Università degli studi di Brescia, 2024.

Master thesis

Modeling and control of humanoid robot locomotion
Tommaso Bonini and Paolo Franceschi
Politecnico di Milano, 2015.