Robotic manipulator control to take advantage of novel actuator concept

29.08.2024, Abschlussarbeiten, Bachelor- und Masterarbeiten

Efficient and fast manipulation is still a big challenge in the robotics community. Traditionally, generating fast motion requires scaling of actuator power. Recently, however, more attention has been paid to “additional ways” for mechanical energy storage and release in order to keep the actuator power requirements baseline lower (just enough to satisfy general manipulation requirements). To introduce “fast mode” manipulation energy could “be injected” from mechanical elements present in the system. It can be useful for tasks such as throwing or other explosive maneuvers.

Bi-Stiffness Actuation (BSA) concept [1] is the physical realization of the previously mentioned idea. There, a switch-and-hold mechanism is used for full link decoupling while simultaneously breaking the spring element (allowing controlled storage and energy release). Changing modes within the actuator (clutch engagement and disengagement) is followed by the impulsive switch of dynamics.

Students are expected to study and understand the physical and mathematical representations of developed concepts. Apply and gain an understanding of multi-DoF manipulator systems, their control, and classifications. Further, using the state-of-the-art simulation frameworks develop a codebase for its control. The work will be foundational for further research, thus the student is expected to follow best coding practices and document his work.

Requirements from candidates:

    Knowledge of Matlab, C++, Python
    Working skills in Ubuntu operating system
    Familiarity with ROS
    Robotics (Forward, backward dynamics and kinematics)
    Proficiency in English C1, reading academic papers
    Plus are:
        Knowledge of working with Gazebo/MuJoCo
        Familiarity with GIT  
        DesignPatterns for coding
        Familiarity with Docker
        Googletest (or other testing framework)


[1] Ossadnik, Dennis, 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). IEEE, 2022.


To apply, you can send your CV, and short motivation to:

Supervisor M.Sc. Vasilije Rakcevic

vasilije.rakcevic@tum.de

Kontakt: vasilije.rakcevic@tum.de