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 Programming 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

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.

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

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 Description

The 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

  • Utilize mechanical design skills (3D modeling) and motion control (microcontroller designing and programming) to create a functional life-sized Glyptodont's tail.
  • Conduct tests to measure impact force and velocity, meticulously documenting experimental procedures and results.
  • Employ data analysis techniques, including statistical tools or software, to interpret experimental findings.
  • Demonstrate creativity in problem-solving, proposing enhancements to the biomimetic tail design where necessary.
  • Collaborate effectively within a team, communicating ideas and contributing to the project's success.

Requirements

  • Background in mechanical designing with proficiency in 3D modeling.
  • Expertise in motion control, including microcontroller designing and programming.
  • Ability to collect, analyze, and interpret experimental data using statistical tools or software.
  • Strong problem-solving skills with a demonstrated ability to innovate in design and testing.
  • Excellent communication skills to collaborate within a team and articulate ideas effectively.
  • Expected Outcomes

  • Successful creation of a fully functional life-sized Glyptodont's tail within the thesis duration.
  • Execution of tests to accurately measure impact force and velocity.
  • Comprehensive documentation of experiments and results.
  • Recommendations for potential enhancements or modifications based on findings.
  • If 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

    4 projects found.