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.

Search filter: only projects matching the keyword Locomotion are shown here. Remove filter

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

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

Human-exoskeleton dynamics and control

726 – Fall detection with an active hip exoskeleton
Category:master project (full-time), internship
Keywords:Balance Control, Control, Data Processing, Dynamics Model, Experiments, Kinematics Model, Locomotion, Machine learning, Robotics, Treadmill
Type:20% theory, 10% hardware, 70% software
Responsible: (MED 3 1015, phone: 31153)
Description:Exoskeletons have experienced an unprecedented growth in recent years and portable exoskeletons have demonstrated the possibility to increase the endurance, reduce the energetic expenditure and increase the performance during walking. In our lab, a hip-joint active hip orthosis (“eWalk”) has been prototyped and tested in recent years. In order to have a correct coordination between human and robot, exoskeletons must be able to detect changes in the gait pattern and provide assistance accordingly. To this day, fall detection and prevention have not been addressed by many wearable devices. This project intends to address this challenge by designing, implementing and validating a novel algorithm. If interested, please send an email with your CV and previous experiences that could be relevant to the project.

Last edited: 15/12/2023

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

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

5 projects found.