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Rezero with Arms – Developing the Next Generation of Interactive Robots
Develop a new version of Rezero, a robot dynamically balancing on a ball (ballbot) by extending it with one or multiple fully actuated manipulators to interact with people and objects.
Keywords: Robotics, Design, CAD, Control, Simulation, Signal Processing, System Modeling
Rezero [1], [2] is a robot capable of dynamically balancing on one ball (ballbot), allowing it to move through tight spaces while interacting with people and its environment at the height of a human.
In this project, you will design, build, and control a new version of Rezero with one or multiple robotic manipulators. The goal is to leverage the dynamic motion capabilities of Rezero in combination with fully force-controlable robotic arm to open new interaction capabilities. For example, the robot could be used to lift objects together with a human or another robot in a tight environment of a industrial facility.
You will conceptualize and design the robot in CAD based on the existing Rezero design and the use of the robotic actuators ANYdrive [3]. Whole-body control algorithms are developed and are tested in simulation. Finally, the robot is assembled and the control strategies evaluated on several hardware experiments.
[1] https://www.ted.com/talks/peter_fankhauser_meet_rezero_the_dancing_ballbot
[2] P. Fankhauser and C. Gwerder, “Modeling and Control of a Ballbot,” ETH Zurich, Switzerland, 2010
[3] http://www.anybotics.com/anydrive/
Rezero [1], [2] is a robot capable of dynamically balancing on one ball (ballbot), allowing it to move through tight spaces while interacting with people and its environment at the height of a human.
In this project, you will design, build, and control a new version of Rezero with one or multiple robotic manipulators. The goal is to leverage the dynamic motion capabilities of Rezero in combination with fully force-controlable robotic arm to open new interaction capabilities. For example, the robot could be used to lift objects together with a human or another robot in a tight environment of a industrial facility.
You will conceptualize and design the robot in CAD based on the existing Rezero design and the use of the robotic actuators ANYdrive [3]. Whole-body control algorithms are developed and are tested in simulation. Finally, the robot is assembled and the control strategies evaluated on several hardware experiments.
[2] P. Fankhauser and C. Gwerder, “Modeling and Control of a Ballbot,” ETH Zurich, Switzerland, 2010
[3] http://www.anybotics.com/anydrive/
- Conceptual and detailed hardware design
- Simulation setup
- Development of whole-body control strategies
- Robot assembly and commissioning
- Evaluation in simulation and real robot
- Conceptual and detailed hardware design - Simulation setup - Development of whole-body control strategies - Robot assembly and commissioning - Evaluation in simulation and real robot
We are looking for highly talented students, motivated to build and control a robot from the ground up. Previous experiences in CAD design, electrical design, programming (C++, ROS), and experimental work are a must.
This project can also be worked on as a team of two students.
We are looking for highly talented students, motivated to build and control a robot from the ground up. Previous experiences in CAD design, electrical design, programming (C++, ROS), and experimental work are a must.
This project can also be worked on as a team of two students.
Péter Fankhauser, pfankhauser@ethz.ch
Your application should include a very brief motivational statement, your transcript of records, CV, and if possible your a link to your Bachelor and Semester thesis.
Péter Fankhauser, pfankhauser@ethz.ch
Your application should include a very brief motivational statement, your transcript of records, CV, and if possible your a link to your Bachelor and Semester thesis.