BSc Thesis, MSc Thesis, Forschungspraxis Oppurtunity at Chair of Robotics and Systems Intelligence

22.04.2025, Studentische Hilfskräfte, Praktikantenstellen, Studienarbeiten

Background: In many robotics applications, system-level metrics such as energy efficiency, precision, and responsiveness are used to evaluate overall performance. However, the influence of joint-level mechanical properties—such as stiffness, compliance, and damping—on these high-level metrics is not always explicitly analysed. This project focuses on investigating how structural elasticities at the joint level affect task execution and measurable performance indicators. Combining metric mapping approaches with simulation and experimental work aims to better understand the relationship between joint mechanics and overall system behaviour. The outcome may support more informed decisions in design and control tuning by making the link between low-level structural choices and high-level performance more transparent.

Objectives:
Investigate the impact of joint elasticity on performance metrics
Identify measurable parameters related to joint structure
Analyse the sensitivity of system metrics to structural variations
Support simulation-based analysis with experimental validation (if feasible)
Contribute to a better understanding of performance-driven joint design

Possible Work Packages:
Survey existing studies on system-level and joint-level performance metrics; identify relevant structural parameters.
Define key metrics and build a simulation environment to analyse them under varying joint elasticity conditions.
Run parameter sweeps in simulation to observe how joint stiffness and compliance changes affect system behaviour.
Design and execute tests on a real system or testbed to verify key findings from the simulation.
Analyse simulation and/or experimental data to identify trends or sensitivities in performance metrics.
Summarise insights gained; discuss implications for future joint design and system evaluation frameworks.

Prerequisites:
Educational Background: Mechanical or Mechatronics Engineering (with programming and control background), Control Engineering (with mechanical system modelling background), Informatics (with sufficient physics and dynamics background)
Skills:
Good understanding of robotic systems and manipulator dynamics
Familiarity with joint-level mechanical concepts, such as stiffness, damping, and compliance
Introductory knowledge of performance metrics in robotics (e.g., stability, energy use, precision)
Experience with simulation tools (e.g., Ansys, Adams, Simscape)
Analytical thinking, especially in identifying and exploring parameter relationships
Advanced experimental skills, including data collection and interpretation under varied test conditions
Comfort with reading and summarising relevant literature, especially around robot design evaluation
Optional but helpful: CAD or prototyping experience, if minor hardware adaptations are considered
Mindset: An investigative mindset to understand the root causes of the problem.
GPA Requirement: Minimum GPA of 2.3
Language Requirement: C1 English
Expected Graduation: After December 2025

What do I offer?
A very challenging and scientifically satisfactory work.
Upon successful results, co-authorship in my publications.
Unlimited cold beverages.
Quarterly group dinners, during summer days, and barbecues.
Know-how about hardware development, design, machine tools, modelling, DAQs, sensors, experiment design, robotics, academic writing and presentation.

Application Process:

Please follow this link https://www.mehmetcanyildirim.com/for-students/supervision to reach the application form. It is essential for you to take the time to fill out the form in detail. Also, with this link, you will be able to check my other offerings as well; feel free to apply for more than one, but please make sure that you mention all these in your motivation letter. If you have further questions, please send me an email with the subject "MSc/BSc Thesis/Forschungspraxis/Internship/Semesterarbeit - Opening Title - Email Topic"

If you have a friend or a group of friends you enjoy working with, I encourage you to apply together. A group application will be a great opportunity if you have different backgrounds, like mechanical hardware and programming.

You can merge projects like Forschungspraxis+MSc Thesis.

Upon submission of your application, it will undergo a review process. If you are found to be a good fit for the topic, you will receive an invitation for an interview. We kindly ask that you refrain from sending follow-up emails to inquire about your application status until one week after the deadline for this call. You will receive an email notification if your application is unsuccessful, and all submitted information and documentation will be discarded.

Please note that part of the interview will include an oral evaluation of your background and comprehension of concepts pertinent to the thesis. Demonstrating thorough preparation, creativity, and initiative will be beneficial. Before the interview, you will be assigned a brief task (such as modelling, simulation, or a paper study), and additional questions will be related to this task during the interview.

Applications and theses must be submitted in English. Giving a final presentation and reporting for the non-thesis openings is also mandatory.

Kontakt: mehmet.yildirim@tum.de

Mehr Information

https://www.mehmetcanyildirim.com/for-students/supervision