Undergraduated Thesis Details

Master Thesis/Internship "Whole Body Control"

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.


Whole body control [1] has become the de-facto method of choice for the instantaneous control of highly redundant robotic systems like humanoids. On the other hand, whole body trajectory optimization has become a popular tool for discovering optimal trajectories for a variety of complex tasks we expect from humanoids. However, these trajectories might not be stable on a real robot. This master thesis explores the task of online stabilization of offline generated whole-body trajectories using QP based whole body control. The work will be applied to the simulation and control of RH5 humanoid [2].

Our requirements:

Mathematical: Whole body control, Trajectory Optimization, Rigid body kinematics and dynamics, Linear Algebra.

Programming: C/C++, Python, experience with WBC frameworks, Model based optimization framework (e.g. drake, crocoddyl)


1. Dennis Mronga, Tobias Knobloch, José de Gea Fernández & Frank Kirchner (2020) A constraint-based approach for human–robot collision avoidance, Advanced Robotics, 34:5, 265-281, DOI: 10.1080/01691864.2020.1721322 

2. J. Eβer et al., "Design, analysis and control of the series-parallel hybrid RH5 humanoid robot," 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), 2021, pp. 400-407, doi: 10.1109/HUMANOIDS47582.2021.9555770.

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

last updated 30.07.2019
to top