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Wrestling with ANYmal – Robotic Fitness Trainer
Who doesn’t know the struggle of going to the gym regularly? Limited time slots on devices, cumbersome setup of the weights, no feedback on your performance… And where is your sparring partner, if you want to train your new wrestling styles and strategies? A partner that challenges, motivates, and pushes you to your limits?
Robots are joining our workplaces, e.g., as assistants for assembly, in health care and for surveillance rendering human jobs more safe and interesting. In sports, robots are seldom found outside of motion science. However, we see a big potential in robots to bridge the gap between highly repetitive & individual training in gyms and the engaging training with a human sparring partner. Therefore, we want to develop a software framework for various robots that provides individual fitness training using physical human-robot interaction. Thereby, we hope to gain valuable insights in physical human-robot interaction that might transfer to other fields, e.g., robot assisted rehabilitation.
Robots are joining our workplaces, e.g., as assistants for assembly, in health care and for surveillance rendering human jobs more safe and interesting. In sports, robots are seldom found outside of motion science. However, we see a big potential in robots to bridge the gap between highly repetitive & individual training in gyms and the engaging training with a human sparring partner. Therefore, we want to develop a software framework for various robots that provides individual fitness training using physical human-robot interaction. Thereby, we hope to gain valuable insights in physical human-robot interaction that might transfer to other fields, e.g., robot assisted rehabilitation.
● Literature Research
● Conceptual development of the behavioral policy for the ANYmal
● Implementation of the human-robot interaction controller
● Literature Research ● Conceptual development of the behavioral policy for the ANYmal ● Implementation of the human-robot interaction controller
With your Master Thesis we want to investigate ANYmal as a Robotic Fitness Trainer. For this, you will develop different fitness controllers in concept and then implement these algorithms on ANYmal. These controllers will build upon state of the art gait controllers on anymal and the newly developed framework SIESTA for individualized robot assisted coaching. Finally, you will evaluate your controller in hardware experiments.
With your Master Thesis we want to investigate ANYmal as a Robotic Fitness Trainer. For this, you will develop different fitness controllers in concept and then implement these algorithms on ANYmal. These controllers will build upon state of the art gait controllers on anymal and the newly developed framework SIESTA for individualized robot assisted coaching. Finally, you will evaluate your controller in hardware experiments.
● Autonomous
● Practical programming experience (C++ preferred)
● Interest in physical human-robot interaction and good understanding of multi-body dynamics
● Autonomous ● Practical programming experience (C++ preferred) ● Interest in physical human-robot interaction and good understanding of multi-body dynamics
Yves Zimmermann, yvesz@ethz.ch
Michael Sommerhalder, somichae@ethz.ch
Marko Bjelonic, marko.bjelonic@ethz.ch
Yves Zimmermann, yvesz@ethz.ch Michael Sommerhalder, somichae@ethz.ch Marko Bjelonic, marko.bjelonic@ethz.ch