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


Human-exoskeleton dynamics and control

735 – Hip exoskeleton to assist walking - multiple projects
Category:semester project, master project (full-time), bachelor semester project, internship
Keywords:Bio-inspiration, C, C++, Communication, Compliance, Control, Data Processing, Dynamics Model, Electronics, Experiments, Inverse Dynamics, Kinematics Model, Learning, Locomotion, Machine learning, Optimization, Programming, Python, Robotics, Treadmill
Type:30% theory, 35% hardware, 35% software
Responsible: (MED 3 1015, phone: 31153)
Description:Exoskeletons have experienced an unprecedented growth in recent years and hip-targeting active devices have demonstrated their potential in assisting walking activities. Portable exoskeletons are designed to provide assistive torques while taking off the added weight, with the overall goal of increasing the endurance, reducing the energetic expenditure and increase the performance during walking. The design of exoskeletons involves the development of the sensing, the actuation, the control, and the human-robot interface. In our lab, a hip-joint active hip orthosis (“eWalk”) has been prototyped and tested in recent years. Currently, multiple projects are available to address open research questions. Does the exoskeleton reduce the effort while walking? How can we model human-exoskeleton interaction? How can we design effective controls? How can we optimize the interfaces and the control? Which movements can we assist with exoskeletons? To address these challenges, the field necessitates knowledge in biology, mechanics, electronics, physiology, informatics (programming, learning algorithms), and human-robot interaction. If you are interested in collaborating in one of these topics, please send an email to giulia.ramella@epfl.ch with your CV, previous experiences that could be relevant to the project, and what interests you the most about this research topic (to be discussed during the interview).

Last edited: 19/04/2024

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

2 projects found.