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Integration of a Walking Engine on a bipedal robot for RoboCup
The goal of this project is to investigate current state of the art walking engines for our NAO robots and integrate them into our current motion framework. Furthermore, the student may look into additional possibilities of improvement. The project is carried out with the NomadZ RoboCup Team at ETH Zürich (https://robocup.ethz.ch/).
For our soccer playing robots being able to walk fast and stable is fundamental for their performance. Currently, we are using an outdated walking engine, which limits our capabilities to execute more advanced strategies. As RoboCup is a collaborative community, teams have shared their walking engines for other teams to use. Our goal is it to use a more state of the art approach for walking, for which the student should first evaluate existing implementations, understand their underlying concepts and investigate their potential and their compatibility with our current framework. Following this, the student is expected to integrate the most promising implementation into the codebase running on the robot and compare its performance to the previous walking engine. Depending on the student’s interests, he/she may continue the development and contribute with further improvements.
For our soccer playing robots being able to walk fast and stable is fundamental for their performance. Currently, we are using an outdated walking engine, which limits our capabilities to execute more advanced strategies. As RoboCup is a collaborative community, teams have shared their walking engines for other teams to use. Our goal is it to use a more state of the art approach for walking, for which the student should first evaluate existing implementations, understand their underlying concepts and investigate their potential and their compatibility with our current framework. Following this, the student is expected to integrate the most promising implementation into the codebase running on the robot and compare its performance to the previous walking engine. Depending on the student’s interests, he/she may continue the development and contribute with further improvements.
The goal of this project is to implement a new walking engine on the NAO robots. This involves studying and understanding the concepts of current state of the art walking engines, investigating the compatibility of the walking engine with the current framework, developing approaches for integration, and embedded coding on the robots. Experience on Robot Kinematics/Dynamics, Motion Planning and Model Predictive Control (MPC) is desirable.
The goal of this project is to implement a new walking engine on the NAO robots. This involves studying and understanding the concepts of current state of the art walking engines, investigating the compatibility of the walking engine with the current framework, developing approaches for integration, and embedded coding on the robots. Experience on Robot Kinematics/Dynamics, Motion Planning and Model Predictive Control (MPC) is desirable.
Interested candidates should contact Alexandros Tanzanakis (atanzana@ethz.ch) and Benjamin Flamm (flammb@control.ee.ethz.ch) with a CV and transcripts of records.
Interested candidates should contact Alexandros Tanzanakis (atanzana@ethz.ch) and Benjamin Flamm (flammb@control.ee.ethz.ch) with a CV and transcripts of records.