Register now After registration you will be able to apply for this opportunity online.
This opportunity is not published. No applications will be accepted.
Actuation, Sensing and Control for Tendon-Driven Robotic Hands
Develop suitable strategies for proprioceptive sensing, actuation, and control of a complex robotic hand driven by electric motors. We will explore different possibilities of equipping an existing hand design with the necessary capabilities for position, force, and tactile feedback control. The developed hardware and software shall be integrated into the robotic hand to create a fully functional system.
We are working on a robotic hand that is dexterous, robust, and easy to fabricate. This project aims to create a universal gripper for mobile robotic applications and could enable the automation of human-like tasks that are too complex for conventional grippers.
Our proven mechanical design for this hand uses electric motors to actuate tendon-driven rolling joints in the fingers. This joint design imposes new challenges for the integration of sensors and a compact actuation system.
We are working on a robotic hand that is dexterous, robust, and easy to fabricate. This project aims to create a universal gripper for mobile robotic applications and could enable the automation of human-like tasks that are too complex for conventional grippers. Our proven mechanical design for this hand uses electric motors to actuate tendon-driven rolling joints in the fingers. This joint design imposes new challenges for the integration of sensors and a compact actuation system.
The student shall develop suitable strategies to accurately control position and force of the given finger design. Therefore, actuators and sensors will have to be selected and integrated into a working system. At the end of this project, the capabilities of the fully functional hand shall be demonstrated experimentally.
**Possible Work Packages**
1. Literature review of existing work on actuation, sensing, and control of robotic hands and grippers, etc.
2. Build a compact actuator system and select suitable electric motors.
3. Select and integrate sensors for position, force/torque, and touch sensing.
4. Investigate model-based state estimation for the finger design.
5. Modeling, control, and integration of the system.
6. Integrate electronic hardware in collaboration with mechanical engineers.
**Requirements**
1. High motivation and problem-solving ability
2. Capable of both working independently and cooperating in a team
3. Keen to learn more about soft-rigid hybrid robotics and robot control
4. Proficiency in C/C++ and/or Python
5. First-hand experience with electronics, actuators, and sensors
6. Knowledge of Newtonian mechanics and basic continuum mechanics
7. Experience in PCB design, rapid-prototyping, CAD, and/or robot simulation is a plus
The student shall develop suitable strategies to accurately control position and force of the given finger design. Therefore, actuators and sensors will have to be selected and integrated into a working system. At the end of this project, the capabilities of the fully functional hand shall be demonstrated experimentally.
**Possible Work Packages**
1. Literature review of existing work on actuation, sensing, and control of robotic hands and grippers, etc.
2. Build a compact actuator system and select suitable electric motors.
3. Select and integrate sensors for position, force/torque, and touch sensing.
4. Investigate model-based state estimation for the finger design.
5. Modeling, control, and integration of the system.
6. Integrate electronic hardware in collaboration with mechanical engineers.
**Requirements**
1. High motivation and problem-solving ability
2. Capable of both working independently and cooperating in a team
3. Keen to learn more about soft-rigid hybrid robotics and robot control
4. Proficiency in C/C++ and/or Python
5. First-hand experience with electronics, actuators, and sensors
6. Knowledge of Newtonian mechanics and basic continuum mechanics
7. Experience in PCB design, rapid-prototyping, CAD, and/or robot simulation is a plus
Barnabas Gavin Cangan, gavin.cangan@srl.ethz.ch, Soft Robotics Lab, D-MAVT
Stefan Weirich, stefan.weirich@srl.ethz.ch, Soft Robotics Lab, D-MAVT
Prof. Dr. Robert Katzschmann, rkk@ethz.ch, Soft Robotics Lab, D-MAVT