I'm a graduate student in the EECS department at MIT, where I'm a member of the Robot Locomotion Group, CSAIL, and LIDS. My advisors are Prof. Pablo Parrilo and Prof. Russ Tedrake.

In 2006, I received the Bachelor of Science degree in electrical engineering from the University of Houston. In 2010, I received a Master of Science degree in electrical engineering from Stanford.

From 2004-2007, I was a member of the guidance, navigation, and control flight software team for the International Space Station. During this time, I implemented algorithms that continuously regulate the flight attitude (orientation) of the space station, contributing to three official software releases.

From 2007-2011, I was one of the principal design engineers of Robonaut 2, a robotic astronaut developed by NASA's Johnson Space Center. Robonaut 2 flew to the International Space Station on the final flight of Space Shuttle Discovery, making it the first humanoid robot in space.

My current research interests include semidefinite programming and algebraic methods and their applications to robotics.

Email:

Address: 77 Massachusetts Ave, 32-380, Cambridge MA 02139, USA

*2015*

*Solving conic optimization problems via self-dual embedding and facial reduction: a unified approach*

F. Permenter, Henrik Friberg, and Erling Andersen

[pdf]*Finding sparse, equivalent SDPs using minimal coordinate projections*

F. Permenter and P. A. Parrilo

[pdf], [examples], [software]

*2014*

*Partial facial reduction: Simplified, equivalent semidefinite programs via approximations of the positive semidefinite cone.*

F. Permenter and P. A. Parrilo

[pdf], [software]*Basis selection for SOS programs via facial reduction and polyhedral approximations*

F. Permenter and P. A. Parrilo

*Proceedings of the IEEE Conference on Decision and Control*, December 2014

[pdf]*Optimization-based locomotion planning, estimation, and control design for Atlas*

S. Kuindersma, R. Deits, M. Fallon, A. Valenzuela, H. Dai, F. Permenter, T. Koolen, P. Marion, R. Tedrake.

*Under review*, 2014

[pdf]*An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion.*

S. Kuindersma, F. Permenter, R. Tedrake.

*In Proceedings of the International Conference on Robotics and Automation (ICRA)*, May 2014

[pdf]

*2013*

*A numerical algebraic geometry approach to regional stability analysis of polynomial systems*

F. Permenter, C.W. Wampler, and R. Tedrake

*Proceedings of the American Control Conference*, June 2013

[pdf]

*2012*

*Selecting a monomial basis for sums of squares programming over a quotient ring*

F. Permenter and P. A. Parrilo

*Proceedings of the IEEE Conference on Decision and Control*, December 2012

[pdf]

*2011*

*Using Bayesian filtering to localize flexible materials during manipulation*

R. Platt, F. Permenter, and J. Pfeiffer

*IEEE Transactions on Robotics*, 2011

*Robonaut 2: the first humanoid robot in space*

M.A. Diftler, N.A. Radford, J.S. Mehling, M.E. Abdallah, F. Permenter, R.O. Ambrose, et al.

*Proceedings of the IEEE International Conference on Robotics and Automation*, 2011

*A miniature load cell suitable for mounting on the phalanges of human-sized robot fingers*

R. Platt, C. Ihrke, L. Bridgewater, D. Linn, M.A. Diftler, M.E. Abdallah, S. Askew, F. Permenter.

*Proceedings of the IEEE International Conference on Robotics and Automation*, 2011

*frlib -- a pre-processing tool for SDP using techniques described* here

*spotless -- a parser for SOS optimization*

*MIT*

Fall 2013: TA for 6.255/15.093J Optimization Methods