Drake is a C++ toolbox started by the Robot Locomotion Group at the MIT Computer Science and Artificial Intelligence Lab (CSAIL) (http://drake.mit.edu/). It is a collection of tools for analyzing the dynamics of robots and building control systems for them, with a heavy emphasis on optimization-based design/analysis. Drake aims to simulate even very complex dynamics of robots (e.g. including friction, contact, ...), and making this information available for advanced planning, control, and analysis algorithms.
The aim of this project is to make use of the advanced capabilities in simulation and control for our versatile robots (Manipulator, Quadruped, and Excavator). The student will start modeling, simulating, and controlling our custom manipulator with drake, using and integrating our already existing software stack. With these tools we want to develop and enhance control strategies in contact-rich manipulation.
Drake is a C++ toolbox started by the Robot Locomotion Group at the MIT Computer Science and Artificial Intelligence Lab (CSAIL) (http://drake.mit.edu/). It is a collection of tools for analyzing the dynamics of robots and building control systems for them, with a heavy emphasis on optimization-based design/analysis. Drake aims to simulate even very complex dynamics of robots (e.g. including friction, contact, ...), and making this information available for advanced planning, control, and analysis algorithms.
The aim of this project is to make use of the advanced capabilities in simulation and control for our versatile robots (Manipulator, Quadruped, and Excavator). The student will start modeling, simulating, and controlling our custom manipulator with drake, using and integrating our already existing software stack. With these tools we want to develop and enhance control strategies in contact-rich manipulation.
- System modeling
- Simulation
- Rigid body kinematics and dynamics
- Control
- Contact modeling
- System identification
- System modeling - Simulation - Rigid body kinematics and dynamics - Control - Contact modeling - System identification
We seek a highly motivated student with a strong background in C++ programming. Good knowledge about system modeling, rigid body kinematics and dynamics and control is required to get along this project.
We seek a highly motivated student with a strong background in C++ programming. Good knowledge about system modeling, rigid body kinematics and dynamics and control is required to get along this project.
Please contact Martin Wermelinger (martin.wermelinger@mavt.ethz.ch) for any questions. Your application should include a very brief motivational statement, your transcript of records and your CV.
Please contact Martin Wermelinger (martin.wermelinger@mavt.ethz.ch) for any questions. Your application should include a very brief motivational statement, your transcript of records and your CV.