(keine Einträge)
Career and Jobs
For Graduates & Professionals
Student Projects & Jobs
Multifingered Robot Hand Simulation and Control
Human-Robot Interaction
Robot Control
Telepresence
Human modeling
Brain Computer Interface Systems
Robot Learning
Electronics
Mechatronics System Developement
Master Thesis (2 offers)
Project description: The Integrated Bi-Stiffness Actuator (iBSA) [1,2] consists of modules such as motor, spring, brake, clutch, and link (see Fig. 1). With these modules, the actuator can be configured in various operating modes. It also consists of various sensors which enable multiple sensor feedback. The objective is to develop a Modular Low-level Control Framework for Modular Actuator with Multiple Sensor Feedback. By exploiting the modular structure characteristic of the BSA, the effects of each element such as link decoupling, the performance of the elastic element, stiffness brake, and motor control can be tested independently. Moreover, other factors such as friction, hysteresis, effects of coupling and mechanical play between parts, and the effect of switching which creates instantaneous change in velocity can also be analyzed and their effect reduced through control at low-level. The end goal is to integrate the controllers into a generalized framework for the combined system.
Prerequisites:
- Master-level studies in Robotics, Electrical Engineering, Mechanics, Electronics, Computer Science
- Background in robotics with basic understanding of manipulator kinematics and dynamics.
- Dynamic systems modeling techniques
- Background in hardware development and system integration
- Good programming skills with Matlab, Python, and C++
- Working skills in the Ubuntu operating system
- Knowledge of parameter estimation algorithms and sensor fusion frameworks such as Kalman filter is a plus
- Experience in design of experiments is a plus
- E. P. Fortunić, M. C. Yildirim, D. Ossadnik, A. Swikir, S. Abdolshah and S. Haddadin, “Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept,” in IEEE Robotics and Automation Letters, vol. 8, no. 12, pp. 8106-8113, Dec. 2023, doi: 10.1109/LRA.2023.3325782.
- D. Ossadnik et al., “BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots,” 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022, pp. 3536-3543, doi: 10.1109/IROS47612.2022.9981928.
To apply, send your CV, cover letter, and supporting documents to Samuel Kangwagye (s.kangwagye(at)tum.de).
Chair of Robotics Science and Systems Intelligence
Munich Institute of Robotics and Machine Intelligence
Technical University of Munich
Application deadline: February 15, 2025
Recent advancements of robotics, especially humanoids and quadruppeds are largely due to the adoption of the novel actuator technologies involving high power density BLDC motors with lower gear ratio for maintaining good proprioceptive feedback and control. [1] However, development is not finished yet, focusing mostly on the way to enable better dynamic behaviour. One of the important directions is augmentatation of such actuators with mechanical springs for storing and releasing energy at the dynamic peaks.
Our works focuses on the developement and testing one such actuator. Thats where the help is needed. In particular, task will be to prepare our Solidworks design for manufacturing, assemble and eventually test all the mechanical functionalities. Further responsibility involves cooridanation with other team members on incoroporating electronics part, modeling, developing and testing simple control of the built setup.
What you will gain:
- Mechanical design and manufacturing of the advanced Actuators
- Better understanding of Solidowrks
- Best practices for collaborations
- Modeling and Control of Robotics systems
- Experience building, prototyping
- Insights in our System Development and access to our community
Requirements from candidates:
- Mechanical Engineering background
- Any CAD software for the Part designs (such as Solidworks, Fusion 360,etc.)
- Matlab skills
- Basic skills in Electronics
- Plus are:
- Understanding how Motors work
- Familiarity with GIT
- Working skills in Ubuntu operating system
To apply, you can send your CV, and short motivation to:
Supervisor
M.Sc. Vasilije Rakcevic
[1] P. M. Wensing, A. Wang, S. Seok, D. Otten, J. Lang and S. Kim, "Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots," in IEEE Transactions on Robotics, vol. 33, no. 3, pp. 509-522, June 2017, doi: 10.1109/TRO.2016.2640183.
Studentische Hilfskräfte (HiWi)
Andere Kategorien
Data Protection Information
When you apply for a position with the Technical University of Munich (TUM), you are submitting personal information. With regard to personal information, please take note of the Datenschutzhinweise gemäß Art. 13 Datenschutz-Grundverordnung (DSGVO) zur Erhebung und Verarbeitung von personenbezogenen Daten im Rahmen Ihrer Bewerbung. (data protection information on collecting and processing personal data contained in your application in accordance with Art. 13 of the General Data Protection Regulation (GDPR)). By submitting your application, you confirm that you have acknowledged the above data protection information of TUM.