Biorobotics Laboratory BioRob
Project Database
This page contains the database of possible research projects for master and bachelor students in the Biorobotics Laboratory (BioRob). Visiting students are also welcome to join BioRob, but it should be noted that no funding is offered for those projects. To enroll for a project, please directly contact one of the assistants (directly in his/her office, by phone or by mail). Spontaneous propositions for projects are also welcome, if they are related to the research topics of BioRob, see the BioRob Research pages and the results of previous student projects.
| To limit the list to the projects matching a given keyword, click on it. | Show complete list |
3D, Agility, Architecture, Artificial muscles, Balance Control, Bio-inspiration, Biomimicry, Biped Locomotion, C, C#, C++, Coman, Communication, Compliance, Computational Neuroscience, Computer Science, Control, Data Evaluation, Data Processing, Dynamics Model, Electronics, Embedded Systems, Estimator, Experiments, FPGA, Feedback, Firmware, Footstep Planning, GUI, Hybrid Balance Control, Image Processing, Inverse Dynamics, Kinect, Kinematics Model, Laser Scanners, Learning, Leg design, Linux, Localization, Locomotion, Machine learning, Mechanical Construction, Motion Capture, Muscle modeling, Online Optimization, Optic Flow, Optimization, Probabilistics, Processor, Programming, Prototyping, Python, Quadruped Locomotion, Radio, Reflexes, Robotics, Sensor Fusion, Simulator, Soft robotics, Synchronization, Treadmill, VHDL, Vision, sensor
Amphibious robotics
Computational Neuroscience
Dynamical systems
Human-exoskeleton dynamics and control
Humanoid robotics
Miscellaneous
Mobile robotics
Modular robotics
Neuro-muscular modelling
Quadruped robotics
Amphibious robotics
| 734 – Firmware development for ENVIROBOT |
| Category: | semester project, master project (full-time) | |
| Keywords: | C, C++, Embedded Systems, Firmware | |
| Type: | 5% theory, 20% hardware, 75% software | |
| Responsible: | (MED 1 1025, phone: 36630) | |
| Description: | A new generation of electronic boards for ENVIROBOT, as well as a complex firmware, has been developed as a master project. The goal of this project is to continue the development, by adapting the currently existing firmware in the new environment, and extending it with new functionality available on the new platform. Requirements:
Last edited: 17/04/2024 | |
| 721 – Development of a compact motor module with torque feedback control |
| Category: | semester project | |
| Keywords: | C, C++, Communication, Control, Electronics, Embedded Systems, Feedback, Firmware, Programming, Prototyping, Robotics | |
| Type: | 40% theory, 30% hardware, 30% software | |
| Responsible: | (MED 1 1626, phone: 38676) | |
| Description: | [Application closed] This project aims to develop a compact motor module for a salamander robot. The module is expected to have the following features: (1) A compact size to fit into the trunk and the legs of the robot. (2) Direct measurement and closed-loop control of output torque. (3) Easy-to-use embedded microcontroller that can be daisy-chained and communicate with the single board computer. This project will mainly focus on the control system design and embedded system programming. Mechanical design and manufacturing may be involved but not compulsory. Students with relevant project experience or a solid background in control theory are preferred. Students who are interested in this project could send CV, transcripts, and materials that can demonstrate project experience (videos, slides, reports, etc.), if possible, to qiyuan.fu@epfl.ch. Last edited: 18/12/2023 | |
| 724 – Control of a salamander robot using a CPG controller with virtual muscles |
| Category: | semester project, master project (full-time) | |
| Keywords: | C, C++, Control, Embedded Systems, Firmware, Linux, Locomotion, Muscle modeling, Programming, Quadruped Locomotion, Robotics | |
| Type: | 10% theory, 20% hardware, 70% software | |
| Responsibles: |
(MED 1 1611, phone: 36620)
(MED 1 1626, phone: 38676) | |
| Description: | The spinal cord in many vertebrates contains a central pattern generator (CPG) that can control the physical body to interact with the environment and produce diverse rhythmic motor patterns, such as walking and swimming. The salamander is a great model organism to study the transition between different motor patterns because it is the closest extant representative of the first tetrapods that transitioned from aquatic to terrestrial environments. To understand the mechanism of such pattern generation and transition, our lab has been developing numerical models of the neuromechanical system for decades. We have also developed multiple salamander robots to verify these models against the real-world environment, the physics of which can not be fully captured by numerical simulations. This project will focus on implementing new CPG controllers on a salamander robot with 27 degrees of freedom (https://www.epfl.ch/labs/biorob/research/amphibious/pleurobot/). The controller will run on a single-board Linux computer (Ordroid) to communicate with the motors through serial communication and with the operator's computer through Wi-Fi. A student who plans to use this project for a master's thesis additionally needs to implement virtual muscles in the controller to reflect the biomechanical properties of the body. To do so, the student will need to characterize the dynamic response of the servo motors and consider them in the controller. With sufficient time, the student will perform systematic experiments to study the performance of these controllers. Students who have taken the Computational Motion Control course are preferred. Students who are interested in this project could send CV, transcripts, and materials that can demonstrate project experience (videos, slides, reports, etc.), if possible, to astha.gupta@epfl.ch and qiyuan.fu@epfl.ch. Last edited: 05/12/2023 | |
Quadruped robotics
A small excerpt of possible projects is listed here. Highly interested students may also propose projects, or continue an existing topic.
| 652 – Integrating Learning-Based Control with MPC and CPGs |
| Category: | semester project, master project (full-time), internship | |
| Keywords: | Bio-inspiration, Control, Learning, Locomotion, Optimization, Robotics | |
| Type: | 40% theory, 60% software | |
| Responsible: | (MED 1 1024, phone: 37506) | |
| Description: | Recent years have shown impressive locomotion control of dynamic systems through a variety of methods, for example with optimal control (MPC), machine learning (deep reinforcement learning), and bio-inspired approaches (CPGs). Given a system for which two or more of these methods exist: how should we choose which to use at run time? Should this depend on environmental factors, i.e. the expected value of a given state? Can this help with explainability of what exactly our deep reinforcement learning policy has learned? In this project, the student will use machine learning to answer these questions, as well as integrate CPGs and MPC into the deep reinforcement learning framework. The methods will be validated on systems including quadrupeds and model cars first in simulation, with the goal of transferring the method to hardware. To apply, please email Guillaume with your motivation, CV, and briefly describe your relevant experience (i.e. with machine learning, software engineering, etc.). Last edited: 09/01/2024 | |
| 697 – Teaching a Robot Dog New Tricks |
| Category: | semester project, master project (full-time), internship | |
| Keywords: | C++, Computer Science, Control, Learning, Programming, Python, Quadruped Locomotion, Vision | |
| Type: | 20% theory, 20% hardware, 60% software | |
| Responsible: | (MED 1 1024, phone: 37506) | |
| Description: | As robots become more prevalent in human society, the number of interactions will increase and good communication will be critical for successful human-machine collaboration. In this project, the student will develop a framework for human-robot interaction using both visual and audio feedback. Given a set of user-defined "tricks" (i.e. lie down, turn around, move left), how can we instruct the robot to perform a particular task? Can we also teach the robot a new task it currently does not know how to do? Communication will be done using both a camera mounted on the robot, as well as with a microphone. The three important tasks are 1) developing the motion library, 2) developing the visual interface to human activity recognition software to map to the motion library, 3) developing the voice command interface. To apply, please email Guillaume with your motivation, CV, and briefly describe your relevant experience (i.e. with machine learning, software engineering, etc.). Last edited: 04/12/2023 | |
Miscellaneous
| 725 – Development of a waterproof setup to measure ground reaction force during salamander locomotion |
| Category: | semester project | |
| Keywords: | Data Evaluation, Data Processing, Embedded Systems, Experiments, Firmware, Locomotion, Mechanical Construction, Prototyping | |
| Type: | 90% hardware, 10% software | |
| Responsibles: |
(MED 1 1611, phone: 36620)
(MED 1 1626, phone: 38676) | |
| Description: | Locomotion is the result of complex interactions between the environment, the mechanical structure of the body, and the controllers. Measuring the physical interaction between the body and the environment can be very useful in understanding many mechanisms in locomotion, such as the role of force feedback in body coordination, the generation of propulsion in challenging environments, and the benefits of passive mechanics in handling perturbations. This project aims to develop a waterproof setup to measure ground reaction forces during the amphibious locomotion of salamanders. The setup will contain a sensorized top surface that can be configured to different shapes. The surface will be divided into multiple pieces, each connected to a 3-axis force sensor to measure the force applied to it. The student will mainly focus on the mechanical design and manufacturing of the setup, as well as the programming of the electronics to collect and store the data. Students who are interested in this project could send his/her CV, transcripts, and materials that can demonstrate project experience (videos, slides, reports, etc.), if possible, to qiyuan.fu@epfl.ch. Last edited: 23/02/2024 | |
| 730 – Development of an experimental setup to measure salamander body stiffness and damping |
| Category: | semester project, master project (full-time) | |
| Keywords: | Data Evaluation, Data Processing, Embedded Systems, Experiments, Firmware, Locomotion, Mechanical Construction, Prototyping | |
| Type: | 5% theory, 75% hardware, 20% software | |
| Responsibles: |
(MED 1 1611, phone: 36620)
(MED 1 1626, phone: 38676) | |
| Description: | Locomotion is the result of complex interactions between the environment, the mechanical structure of the body, and the controllers. Measuring the physical properties of the musculoskeletal system can be very useful in helping us better understand animal anatomy, reveal the benefits of passive mechanisms in handling perturbation, develop more accurate modeling for simulation, and develop bioinspired robots with higher performance. This project aims to develop a setup to measure the passive stiffness and damping of the trunk and the limbs of salamanders. The setup will simultaneously control a motor to bend euthanized animals while collecting force/torque readings on a transducer. The student will need to design and manufacture the setup following a previous publication, test the setup, and potentially collect data in our collaborators' labs in France/Sweden/Canada. Students who are interested in this project could send his/her CV, transcripts, and materials that can demonstrate project experience (videos, slides, reports, etc.), if possible, to qiyuan.fu@epfl.ch and chuanfang.ning@epfl.ch. Students with a solid background in mechatronics design are preferred. Last edited: 11/01/2024 | |
| 729 – Robotic paleontology: tail strike defense |
| Category: | master project (full-time) | |
| Keywords: | 3D, Biomimicry, Embedded Systems, Experiments, Mechanical Construction, Programming | |
| Type: | 20% theory, 60% hardware, 20% software | |
| Responsible: | (MED 1 1226, phone: 32658) | |
| Description: | We offer an exciting opportunity for a highly motivated graduate student in Mechanical Engineering to undertake a thesis project focusing on designing and constructing a robotic apparatus to test and validate the impact force of a dinosaur tail strike. This project spans approximately 6 months and requires a combination of mechanical design expertise, force plate measurements, innovation in biomimetic structures, and proficiency in data analysis. Project DescriptionThe thesis project revolves around designing, building, and controlling a life-sized robotic tail capable of replicating the striking force of a dinosaur’s club-shaped tail. The aim is to accurately measure impact force and velocity using a bone-like material reproduction sourced from fossils we have at the Palaeontological Institute and Museum of the University of Zurich. This endeavor will involve close collaboration with a multidisciplinary team and conducting experiments at our facilities at Empa Dübendorf by Zurich.
Responsibilities
RequirementsExpected OutcomesIf you are a Master's student passionate about pushing the boundaries of robotics, biomimicry, and mechanical engineering and are looking for an engaging thesis project, we encourage you to apply. Please submit your resume/CV along with a cover letter detailing your relevant experience and why you are excited about this exceptional thesis opportunity to Auke Ijspeert as well as Ardian Jusufi. Last edited: 22/12/2023 | |
Mobile robotics
| 651 – Autonomous Drifting on Scaled Vehicle Hardware |
| Category: | semester project, master project (full-time), internship | |
| Keywords: | C++, Control, Electronics, Embedded Systems, Experiments, Learning, Optimization | |
| Type: | 10% theory, 60% hardware, 30% software | |
| Responsible: | (MED 1 1024, phone: 37506) | |
| Description: | Controlling vehicles at their limits of handling has significant implications from both safety and autonomous racing perspectives. For example, in icy conditions, skidding may occur unintentionally, making it desirable to safely control the vehicle back to its nominal working conditions. From a racing perspective, drivers of rally cars drift around turns while maintaining high speeds on loose gravel or dirt tracks. In this project, the student will compare several approaches for high speed, dynamic vehicle maneuvers, including NMPC with a standard dynamic bicycle model, NMPC with a dynamic bicycle model + GP residuals, NMPC with learned dynamics (i.e. a NN), and lastly a pure model-free reinforcement learning approach. All approaches will be tested in both simulation as well as on a scaled vehicle hardware platform. To apply, please email Guillaume with your motivation, CV, and briefly describe your relevant experience (i.e. with machine learning, software engineering, etc.). Last edited: 09/01/2024 | |
9 projects found.