M.Sc. Thesis Offer: Control for Dynamic Legged Locomotion using HyPer-2 Humanoid Robot
Goal: The primary goal of this thesis is to develop, deploy, and test new controllers for the HyPer-2 humanoid robot being developed at DFKI Robotics Innovation Center.
- Investigating model-based control methods that exploit the natural dynamic of the system
- Combining parallel mechanisms in model-based optimal control methods
- Performing system identification of the HyPer-2 robot.
- Evaluation of the developed controllers on the humanoid and benchmarking the performance.
Prior Knowledge:
- Background in Robotics, Kinematic, Dynamics, Mechatronics, Controls, or related fields.
- Experience with optimization methods and solvers.
- Experience in Programming with Python and C/C++
- Familiarity with hardware such as actuators and sensors is advantageous.
Related Work:
- Bergonzani, Ivan, Mihaela Popescu, Shivesh Kumar, and Frank Kirchner. "Fast dynamic walking with RH5 humanoid robot." In 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), pp. 1-8. IEEE, 2023.
- Boukheddimi, Melya, Daniel Harnack, Shivesh Kumar, Rohit Kumar, Shubham Vyas, Octavio Arriaga, and Frank Kirchner. "Robot dance generation with music based trajectory optimization." In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3069-3076. IEEE, 2022.
For further information and application please contact Shubham Vyas at Shubham.Vyas[at]dfki.de.
Contact:
Deutsches Forschungszentrum für Künstliche Intelligenz GmbH
Robotics Innovation Center
Robert-Hooke-Str. 1
28359 Bremen, Germany
www.dfki.de/ric
Shubham Vyas
Phone: +49 421 17845 4157
shubham.vyas@dfki.de