Minimal is a mostly 3D-printed, highly reconfigurable robot. Using state-of-the-art reinforcement learning, we will explore novel and highly advanced hardware design possibilities that will be coupled with design optimization through learning. This will enable the next generation of robots to be a lot faster, stronger and agile. - Engineering and Technology
- Master Thesis, Semester Project
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We want to develop a generalist digging agent that is able to do multiple tasks, such as digging and moving loose soil, and/or control multiple excavators. We plan to use decision transformers, trained on offline data, to accomplish these tasks. - Intelligent Robotics
- Master Thesis, Semester Project
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The accumulation of metals in tissues can either contribute to or arise from metabolic disorders, resulting in supraphysiological concentrations of deleterious species within organs and tissues. Chronic metal overload can lead to organ failure and arthritis, while in the short term is proinflammatory and complicates wound healing. - Biomaterials, Chemical Engineering, Chemistry
- Bachelor Thesis
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The traveling velocity of Swiss pendolino reaching 250 km/h creates both aerodynamic noise
as well as noise from the train wheel – track interaction. Corrundum grinding wheels are
widely used in industry for maintaining rail tracks and acoustic grinding. Rolling noise
contributes significantly to the overall acoustic pollution, whereby correlation between track
surface quality and noise emission could be detected and needs to be improved.
It is a challenge to measure the rail roughness from the train, to monitor the condition of the
rail network at a high speed. For this purpose, an optical measurement system is to be developed which can measure the
rail roughness contact-free. A possible additional topic is the detection of rail defects using
machine learning. From design to performing experiments to data processing or data storage
strategies, a variety of thesis topics are possible. - Mechanical Engineering
- Bachelor Thesis, Semester Project
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Searching for specific objects within a confined space requires advanced spatial and perceptual reasoning. In this project, we want to develop a learning-based system that finds a desired object in a cluttered scene efficiently and safely. - Computer Vision, Knowledge Representation and Machine Learning, Learning, Memory, Cognition and Language
- Master Thesis
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Model-based state estimation for locomotion has shown some significant drawbacks, especially in the case of complex contact scenarios. At the same time, locomotion controllers are evolving, now purposely using knee contacts or wheel slippage for advanced motions. The current model-based state estimation techniques often cannot supply sufficiently accurate observations for these controllers, leading to major estimation drifts and thus potential failures. In this project, we aim to leverage learning-based methods not only for locomotion control, but also for state estimation. Preliminary work shows that creating a state estimation through supervised learning from recorded simulation data can produce a viable solution. Furthermore, fusing these approaches with classical filtering theory opens a promising realm of research. The project should also compare the developed methods with existing approaches on real hardware. If time permits, we are interested in learning state estimation and locomotion jointly. - Intelligent Robotics, Robotics and Mechatronics
- Master Thesis, Semester Project
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Biodegradable implants only stay for a limited time in the body and degrade after they have fulfilled their task. This renders an implant removal surgery unnecessary. This study investigates via electron microscopy and slow strain-rate mechanical testing the underlying mechanisms affecting stress corrosion cracking (SCC) of biodegradable Mg alloys loaded in corrosive environment. - Alloy Materials, Biomaterials
- ETH Zurich (ETHZ), Master Thesis
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Robots, like humans, should be able to use different parts of their morphology (base, elbow, hips, feet) for interaction. This project focuses on learning multi-modal interactions from demonstrations for mobile manipulators. - Intelligent Robotics, Knowledge Representation and Machine Learning
- Master Thesis, Semester Project
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This project addresses the task of 6D pose estimation for general-purpose objects, particularly when dealing with occlusion. We aim to leverage recent deep learning methods and synthetic data generation schemes to enable robust object manipulation. - Intelligent Robotics
- Master Thesis, Semester Project
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This project explores wheeled-legged legged robots, i.e., a robot that has both wheels and point-feet as end-effectors of its legs. Thereby, different locomotion modes should be explored, as well as different configurations of mounting wheels to legs. One idea could be a diagonal bicycle mode, another could be optimizing locomotion for payload transport. The project should include the implementation and deployment of the developed locomotion concepts and policies on real hardware. - Intelligent Robotics, Robotics and Mechatronics
- Master Thesis, Semester Project
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