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Design and Control of a Base for Mobile Manipulation
This project is about mobile manipulation with a force controllable arm. The goal is to design a mobile base that allows the manipulator to extend its range while safely navigate in indoor environments and collaborate with other robots or humans.
A major advantage of mobile manipulators is their large workspace, making them suitable for many applications that fixed-base manipulators are not sufficient for.
The task of the student will be to design and control a mobile base for a force controllable robot arm. The goal is to employ this platform in indoor environments, where the robot collaboratively works with other robots or humans for part assembly or welding tasks. In a second step, to make the platform autonomous and safe to interact, appropriate sensing (camera, LIDAR,...) as well as algorithms for localization, path planning, and obstacle avoidance will be integrated.
A major advantage of mobile manipulators is their large workspace, making them suitable for many applications that fixed-base manipulators are not sufficient for.
The task of the student will be to design and control a mobile base for a force controllable robot arm. The goal is to employ this platform in indoor environments, where the robot collaboratively works with other robots or humans for part assembly or welding tasks. In a second step, to make the platform autonomous and safe to interact, appropriate sensing (camera, LIDAR,...) as well as algorithms for localization, path planning, and obstacle avoidance will be integrated.
- Literature review about mobile manipulation solutions.
- Comparison/evaluation of possible platform designs.
- Mechanical design of mobile base (CAD).
- Integration & commissioning.
- Motion control, possibly whole body motion with arm.
- Localization and navigation in indoor environments.
- Obstacle avoidance.
- Literature review about mobile manipulation solutions. - Comparison/evaluation of possible platform designs. - Mechanical design of mobile base (CAD). - Integration & commissioning. - Motion control, possibly whole body motion with arm. - Localization and navigation in indoor environments. - Obstacle avoidance.
- Practical experience with CAD.
- System control and modeling.
- Understanding of motion planning, localization and navigation.
- Independent and creative in solving problems
- Practical experience with CAD. - System control and modeling. - Understanding of motion planning, localization and navigation. - Independent and creative in solving problems
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.