Master Thesis/Internship "LQR" 


In order to strengthen our dedicated team in the Robotics Innovation Center (RIC) research department in Bremen we are looking for a  

Master Thesis/Internship 

(full-time/part-time, 6 – 9 months) 

The Robotics Innovation Center research department, headed by Prof. Dr. Dr. h.c. Kirchner, develop robot systems that are used for complex tasks on land, under water, in the air, and in space. The recently established underactuated lab at DFKI-RIC is looking for outstanding students to join us in pushing the boundaries of highly dynamic and agile robots.


Linear Quadratic Regulators (LQR) have been shown to perform very well for agile winged robots [1,2], humanoid robots [3], and quadrotors [4]. Recently, quaternion-based LQR was shown to perform very well for spacecraft attitude control while providing global stability guarantees [5]. This thesis aims to develop a quaternion-based contact-constrained LQR controller for humanoid robots. The quaternion-based linearized model of the robot will be developed along with contact constraints. Various linearizations will be carried out to construct a controller library to carry out simple motions such as balancing, squatting, and walking. The controller and the motions will be validated on the RH5 Humanoid robot at DFKI-RIC.

Our requirements:

Mathematical: Robot kinematics and dynamics, linear control theory, optimization methods.

Programming: C/C++, Python, experience with controller design and control of real-systems.


1. Cory, R. E. (2010). Supermaneuverable perching (Massachusetts Institute of Technology). Retrieved from http://hdl.handle.net/1721.1/60142

2. Moore, J. L. (2014). Robust Post-Stall Perching with a Fixed-Wing UAV. Massachusetts Institute of Technology.

3. Mason, S., Righetti, L., & Schaal, S. (2015). Full dynamics LQR control of a humanoid robot: An experimental study on balancing and squatting. IEEE-RAS International Conference on Humanoid Robots2015-Febru, 374–379. https://doi.org/10.1109/HUMANOIDS.2014.7041387

4. Shulong, Z., Honglei, A., Daibing, Z., & Lincheng, S. (2014). A new feedback linearization LQR control for attitude of quadrotor. 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 20142014(December), 1593–1597. https://doi.org/10.1109/ICARCV.2014.7064553

5. Yang, Y. (2012). Analytic LQR Design for Spacecraft Control System Based on Quaternion Model. Journal of Aerospace Engineering25(3), 448–453. https://doi.org/10.1061/(asce)as.1943-5525.0000142

Please contact Dr. Shivesh Kumar and Shubham Vyas for further information and send your application including current transkript of grades via E-Mail to ric-application@dfki.de.

zuletzt geändert am 18.11.2019
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