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 Firmware 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
| 736 – Firmware development for a sensorized Pleurobot |
| Category: | semester project, master project (full-time) | |
| Keywords: | C, C++, Communication, Control, Embedded Systems, Firmware, Linux, Programming, sensor | |
| Type: | 5% theory, 10% hardware, 85% software | |
| Responsible: | (MED 1 1626, phone: 38676) | |
| Description: | In this project, the student is expected to continue developing the existing firmware for high-performance low-level control of the new Pleurobot (our amphibious legged robot modeling Pleurodeles waltl) and its multiple sensors. The major objectives include: (1) Improve the sampling speed and robustness of the microcontrollers that collect data from multiple sensors. (2) Increase the bandwidth of and reduce the latency in the communication between the onboard computer and multiple microcontrollers. (3) (For full-time students) Develop low-latency wireless communication between the onboard computer and the user's laptop for remote control. The student is expected to be familiar with (1) communication protocols including SPI, UART, and CAN, and (2) programming of embedded systems using C/C++. Knowledge about signal processing, wireless network protocols, and/or GUI development can be a bonus. The student who is interested in this project could send his/her transcript, CV, and description of their past project experience to qiyuan.fu@epfl.ch. A student who can work full-time in the summer or the autumn semester is preferred. Last edited: 16/05/2024 | |
Miscellaneous
| 737 – Development of a treadmill with closed-loop control of speed for recording optical and X-ray videos |
| Category: | semester project, master project (full-time) | |
| Keywords: | Control, Electronics, Embedded Systems, Experiments, Firmware, Image Processing, Mechanical Construction, Motion Capture, Prototyping, Treadmill, Vision | |
| Type: | 60% hardware, 40% software | |
| Responsibles: |
(MED 1 1611, phone: 36620)
(MED 1 1626, phone: 38676) | |
| Description: | When recording animal behaviors using optical or X-ray videos, there is a tradeoff between having a large field of view and having a high resolution of the animal body. This limits the ability to obtain animal kinematics for a long time and with high accuracy simultaneously. One solution is to let the animal run on a treadmill such that it can stay inside the field of view. However, the animal often varies its speed during movement, and the radio-opaque components in the common treadmills add difficulty in placing X-ray cameras. In this project, the student will develop a treadmill to be used with optical and X-ray tracking setup. The treadmill is expected to have the following features: (1) The major components should be constructed using radio-transparent materials such as plastics. (2) The slope of the treadmill can be adjusted. (3) The speed of the treadmill can be controlled in closed loops to keep the animal in the center of the view. To realize this, a camera may be used to track the animals. See this video for an example: https://www.youtube.com/watch?v=0GyovqfQj2g&ab_channel=TerradynamicsLab (Note that the treadmill in this project does not need to move in 2 dimensions.) If there is sufficient time, the following features would be desirable: (4) Being able to move in two dimensions (omnidirectional treadmill). (5) Allowing integration with force/torque sensors below the surface. Students with knowledge of designing mechanical structures and embedded systems, computer vision, and feedback control are preferred. Interested students can send their resumes, transcripts, and materials that can show their project experience to the assistants. Last edited: 20/06/2024 | |
| 739 – Radio communication tests on 169.4 MHz |
| Category: | semester project | |
| Keywords: | Electronics, Embedded Systems, Firmware, Radio | |
| Type: | 10% theory, 70% hardware, 20% software | |
| Responsible: | (MED 1 1025, phone: 36630) | |
| Description: | Mobile robots often communicate over the 2.4 GHz band using standard off-the-shelf technologies as WiFi or Bluetooth, or sometimes custom radio protocols either on the 2.4 GHz or 868 MHz ISM bands, both on the UHF part of the radio spectrum. This project aims at evaluating the possibility of using the 169.4 MHz band (VHF) for controlling robots and obtaining telemetry, as it might give much better results in terms of range and transmission through obstacles or water, even if the available bandwidth is much more restricted. The project involves:
Requirements: experience with digital electronics and basic understanding of radio communications and related concepts (e.g. transmission lines, antennas). Previous experience with radio frequency and/or PCB design is a plus. Last edited: 11/06/2024 | |
3 projects found.