Walking Thesis Project Robotics

Walking Thesis Project Robotics-16
The first objective of this master thesis is to develop and implement algorithms for the manipulation with two arms of objects in a static environment on a PR2 robot at LAAS-CNRS.Then, the planning algorithms will be extended to avoid collisions with dynamic obstacles by using a Kinect camera.the objective of this master thesis is to devise motion retargeting strategies for collaborative tasks involving a human operator and a humanoid robot.

The first objective of this master thesis is to develop and implement algorithms for the manipulation with two arms of objects in a static environment on a PR2 robot at LAAS-CNRS.Then, the planning algorithms will be extended to avoid collisions with dynamic obstacles by using a Kinect camera.the objective of this master thesis is to devise motion retargeting strategies for collaborative tasks involving a human operator and a humanoid robot.

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This project will take place in the Lagadic group at Inria/Irisa Rennes (France).

The internship is for at least 6 months and it is paid around 550 euros/month.

Further details, thesis plan, and relevant bibliography can be found here.

The ideal candidate should be enrolled in Master studies in Robotics or Control Engineering, must have solid background in robotics, particularly for the dynamic aspects, good coding skills in C/C , knowledge of V-REP.

The goal of this project is to develop a versatile quadruped robot that is able to perform highly dynamic motions such as running and jumping, and also precise navigation over rough terrain.

Motion planning, low and high level control, rigid body dynamics etc. Cameras are a widespread sensor modality used for controlling the motion of robots and/or understanding the surrounding environment.In a robotics context, a first necessary step for using cameras is to extract relevant "features" that will represent the actual "measured/controlled quantities" exploited in any subsequent control/estimation task.Currently, the robot used (Nextage) can handle small parts using one arm.However, for larger parts, dual-arm manupulation is required.Closely related results have been recently obtained by members of the Robotics Laboratory for serial manipulators with fixed base.This study aims at generalizing these results to humanoid robots, both in static and dynamic conditions.The design of the algorithms should be general enough to be easily ported to other robots.The ideal candidate should have good skills in C/C , knowledge of ROS, Python and GIT. Since then, we have been gradually improving the robot hardware and software and we implemented several locomotion modes from walking to running and jumping. Only with their expert knowledge and experience such a project is possible. After extensive testing of a first leg prototype in 20, the first prototype of Hy Q was operational in 2010.

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