[Robotics] Designing and testing novel robotics actuator

04.01.2025, Abschlussarbeiten, Bachelor- und Masterarbeiten

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

vasilije.rakcevic@tum.de

[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.

Kontakt: vasilije.rakcevic@tum.de