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Mobile Manipulation with a Force-Controllable Arm
This project is about mobile manipulation with a force controllable arm. The goal is to enable a mobile robot to pick objects and to place / hold them for further assembly or welding in collaboration with other robots or humans.
Keywords: Collaborative robotics, mobile manipulation, force control, automated assembly, object identification
Collaborative robots teaming up with other robots or humans are gaining increasing popularity recently. For tasks like collaborative assembly of objects or human-robot guidance new sensing capabilities and adaptive control approaches are necessary. Those skills can be provided by advanced platforms like the force controllable MABI Speedy Arm ( http://mabi-robotic.com/en/products/mabi-speedy-12 ).
The task of the student will be to combine the force controllable manipulator on a mobile base and implement controllers for safe interaction with the environment or humans.
Collaborative robots teaming up with other robots or humans are gaining increasing popularity recently. For tasks like collaborative assembly of objects or human-robot guidance new sensing capabilities and adaptive control approaches are necessary. Those skills can be provided by advanced platforms like the force controllable MABI Speedy Arm ( http://mabi-robotic.com/en/products/mabi-speedy-12 ).
The task of the student will be to combine the force controllable manipulator on a mobile base and implement controllers for safe interaction with the environment or humans.
Depending on the interests of the student, possible work packages may include:
- Integration of manipulator arm on a (mobile) base. (mandatory)
- Implementation of model-based force controller for interaction tasks. (mandatory)
- Object representation, identification, and localization
- Mobile manipulation in constrained environment (sensing and trajectory planning)
- Human guidance (Human robot interaction)
- Collaborative part assembly.
Depending on the interests of the student, possible work packages may include:
- Integration of manipulator arm on a (mobile) base. (mandatory)
- Implementation of model-based force controller for interaction tasks. (mandatory)
- Object representation, identification, and localization
- Mobile manipulation in constrained environment (sensing and trajectory planning)
- Human guidance (Human robot interaction)
- Collaborative part assembly.
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.