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Enhancing Mobile Manipulation Capabilties of a Quadrupedal Robot with an Arm
We want to enhance the existing manipulation capabilities of ANYmal with arm. We are currently developing a shared autonomy framework, allowing the robot to perform various autonomous manipulation and cooperation tasks, while allowing an operator to intervene in case something unexpected happens.
Keywords: Mobile Manipulation, Shared Autonomy, Deep Learning, Model Predictive Control, Visual Servoing, Human Robot Cooperation, Teleoperation, Perception
Legged manipulation platforms offer advantages over wheeled platforms, being able to move in difficult terrain (stairs, search and rescue scenario), adapt the base to ease the manipulation task, and so on. In this project, we want to enhance our already existing legged platform with arm by further developing its autonomous capabilities and integrating it into a shared autonomy framework.
Legged manipulation platforms offer advantages over wheeled platforms, being able to move in difficult terrain (stairs, search and rescue scenario), adapt the base to ease the manipulation task, and so on. In this project, we want to enhance our already existing legged platform with arm by further developing its autonomous capabilities and integrating it into a shared autonomy framework.
The work packages will be adapted according to the project topic, but all of them will first include a literature review and method selection.
Possible directions include:
- Visual servoing and autonomous grasping
- Reinforcement learning for manipulation tasks
- Human-robot interaction and cooperation
- Model predictive control for autonomous manipulation tasks
Please add your field of interest to your application!
The work packages will be adapted according to the project topic, but all of them will first include a literature review and method selection.
Possible directions include:
- Visual servoing and autonomous grasping - Reinforcement learning for manipulation tasks - Human-robot interaction and cooperation - Model predictive control for autonomous manipulation tasks
Please add your field of interest to your application!
Please note that due to the limited number of positions, the selection is highly competitive. Applicants should have excellent experience in the following topics:
- Robotics and Perception
- Object-oriented programming
- Machine Learning or Optimization theory
- Experience with ROS is optional but considered a plus
- Autonomous working style
Your application should include a brief motivational statement (containing your field of interest), your transcript of records, and your CV.
Please note that due to the limited number of positions, the selection is highly competitive. Applicants should have excellent experience in the following topics:
- Robotics and Perception - Object-oriented programming - Machine Learning or Optimization theory - Experience with ROS is optional but considered a plus - Autonomous working style
Your application should include a brief motivational statement (containing your field of interest), your transcript of records, and your CV.