Application deadline: August 10, 2025

[Internship/Masterthesis] Robotic manipulator control to take advantage of novel actuator concept

18.07.2025, Diplomarbeiten, Bachelor- und Masterarbeiten

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.

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 3-DoF manipulator systems, their control, and classifications. Further, using the state-of-the-art technique develop a controller suitable for various tasks. Particular reserach focus will be decided after literature review and common discussions.

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