Register now After registration you will be able to apply for this opportunity online.
This opportunity is not published. No applications will be accepted.
Excavator climbing on a truck with scripted motion plans
The aim of this project is to enable a highly customized 12ton Menzi Muck to do certain scripted motions or tasks like autonomously climbing on the back of a truck or walking sideways.
Keywords: autonomous robots, control, excavator
Free gait is a software framework (whole-body abstraction layer) for the versatile control of legged robots developed at our lab. With this framework, our four-legged robot anymal can climb stairs, overcome obstacles and do many other scripted maneuvers. See the github page https://github.com/leggedrobotics/free_gait for more information on free gait including a short video.
The goal of this project would be to use free gait with a Menzi Muck M545 walking excavator. This excavator also has four legs with force controllable actuators as anymal. The student has to use free gait in the software framework of our walking excavator and design the motions to fulfill tasks like climbing on a truck or walking sideways which are inherently difficult to do manually.
Free gait is a software framework (whole-body abstraction layer) for the versatile control of legged robots developed at our lab. With this framework, our four-legged robot anymal can climb stairs, overcome obstacles and do many other scripted maneuvers. See the github page https://github.com/leggedrobotics/free_gait for more information on free gait including a short video.
The goal of this project would be to use free gait with a Menzi Muck M545 walking excavator. This excavator also has four legs with force controllable actuators as anymal. The student has to use free gait in the software framework of our walking excavator and design the motions to fulfill tasks like climbing on a truck or walking sideways which are inherently difficult to do manually.
- implement free gait in the M545 software framework
- design different tasks, e.g. truck loading, sideways walking, etc. in simulation
- field tests on the real machine at ETH Hönggerberg
- evaluation
- implement free gait in the M545 software framework - design different tasks, e.g. truck loading, sideways walking, etc. in simulation - field tests on the real machine at ETH Hönggerberg - evaluation
- C++ programming skills
- Basic knowledge in control theory
- C++ programming skills - Basic knowledge in control theory