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Project Database

This page contains the database of possible research projects for master and bachelor students in the Biorobotics Laboratory (BioRob). Visiting students are also welcome to join BioRob, but it should be noted that no funding is offered for those projects (see https://biorob.epfl.ch/students/ for instructions). To enroll for a project, please directly contact one of the assistants (directly in his/her office, by phone or by mail). Spontaneous propositions for projects are also welcome, if they are related to the research topics of BioRob, see the BioRob Research pages and the results of previous student projects.

To limit the list to the projects matching a given keyword, click on it.Show complete list

3D, Agility, Architecture, Artificial muscles, Balance Control, Bio-inspiration, Biomimicry, Biped Locomotion, C, C#, C++, Coman, Communication, Compliance, Computational Neuroscience, Computer Science, Control, Data Evaluation, Data Processing, Dynamics Model, Electronics, Embedded Systems, Estimator, Experiments, FPGA, Feedback, Firmware, Footstep Planning, GUI, Hybrid Balance Control, Image Processing, Inverse Dynamics, Kinect, Kinematics Model, Laser Scanners, Learning, Leg design, Linux, Localization, Locomotion, Machine learning, Mechanical Construction, Motion Capture, Muscle modeling, Online Optimization, Optic Flow, Optimization, Probabilistics, Processor, Programming, Prototyping, Python, Quadruped Locomotion, Radio, Reflexes, Robotics, Sensor Fusion, Simulator, Soft robotics, Synchronization, Treadmill, VHDL, Vision, sensor

Amphibious robotics
Computational Neuroscience
Dynamical systems
Human-exoskeleton dynamics and control
Humanoid robotics
Miscellaneous
Mobile robotics
Modular robotics
Neuro-muscular modelling
Quadruped robotics


Amphibious robotics

750 – Design, manufacture, and experiments of dry suits for amphibious robots
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Category:semester project
Keywords:Experiments, Locomotion, Mechanical Construction, Prototyping, Robotics, Soft robotics
Type:15% theory, 80% hardware, 5% software
Responsible: (MED 1 1626, phone: 38676)
Description:

This project has been taken

Dry suits are user-friendly solutions to waterproof robots for amphibious applications. Our lab has previously designed and used dry suits for various limbless and limbed robots. However, tests remain to be done to understand their effects on locomotion. We are also investigating new methods to improve the design and manufacturing process for: (1) stronger resistance to tear, abrasion, and punctures; (2) easier and faster manufacturing processes; and (3) solutions to install smaller-sized wire outlets for sensor applications.

In this project, the student will: (1) work closely with local tailors and manufacturers to find reliable resources of raw materials; (2) design and manufacture sealing structures for various applications in amphibious robots, and (3) perform experiments on their effects on locomotion, such as the change of hydrodynamic drag or joint loads in various conditions.

Thus, we would prefer student that: (1) have a solid background in mechanical design and manufacturing, and (2) can fluent communicate with local businesses in English and French (additionally speaking German and/or Chinese would be a bonus). Students that are interested should send their CVs, transcripts (with relevant courses highlighted), and a brief summary of other relevant experience to the assistants.



Last edited: 28/02/2025
753 – Gait analysis in the salamander from pose estimation
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Category:semester project
Keywords:Data Evaluation, Data Processing
Type:100% software
Responsible: (MED 1 1024, phone: 30563)
Description:The project will involve the analysis of the kinematics tracking of key poses on salamanders in land and water before and after spinal cord injury in python. The goal of the project is to analyze the data using signal processing tools, eliminate undesired samples, and use classification tools to determine each gait at different stages before and after spinal cord injury.

Last edited: 27/02/2025
745 – Investigation of the functions of passive feet for sprawling type quadruped robots
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Category:semester project, master project (full-time)
Keywords:Bio-inspiration, Biomimicry, Compliance, Experiments, Leg design, Locomotion, Mechanical Construction, Prototyping, Python, Quadruped Locomotion, Robotics, Soft robotics
Type:10% theory, 60% hardware, 30% software
Responsibles: (MED 1 1611, phone: 36620)
(MED 1 1626, phone: 38676)
Description: This project has been taken

Many quadruped robots use simple ball feet while animals usually have complex foot structures. Some studies have tried designing more complex actuated or adaptive feet for quadruped robots. However, few have systematically investigated the benefits of such feet when they are integrated into the robot, especially for the sprawling type quadrupeds. The lack of understanding also exists in animal locomotion because of the complexity and small dimensions of the structure.

To start understanding the role of biomimetic foot structures, this project aims to systematically compare the performance of a salamander robot equipped with ball feet and with passive adaptive feet in both simulation and hardware experiments. A semester project student can choose either one to work on while a master project student needs to do both parts.

For the simulation experiments, the student will: (1) build simplified models of the feet in our Mujoco-based simulation framework, FARMS, (2) optimize the design parameters using optimization or learning algorithms, and (3) compare the results with those using models with ball feet and with data collected in animal experiments. The student is thus required to have basic mechanical design abilities and be familiar with Python programming and optimization/learning algorithms. Students who have taken the Computational Motor Control course would also be preferred.

For the hardware experiments, the student will: (1) design and manufacture the feet based on previous studies, (2) integrate the feet into our salamander robot, and (3) perform systematic tests in different environments. The student is expected to be experienced in mechanical design and manufacturing and have basic knowledge of the mechanics of materials.

Students who are interested in this project shall send the following materials to the assistants: (1) resume, (2) transcript showing relevant courses and grades, and (3) other materials that can demonstrate your skills and project experience (such as videos, slides, Git repositories, etc.). The student should also specify which part of the project (simulation, hardware, or both) they are interested in.



Last edited: 07/02/2025
746 – Developing a fluid-body simulator to study collective behavior in water
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Category:semester project, master project (full-time)
Keywords:C++, Python, Simulator
Type:20% theory, 80% software
Responsible: (MED 1 1024, phone: 30563)
Description:Efficient swimmers rely on sensing the local changes in surrounding waters and use them to their advantage. For example, fishes swimming in water can sense local deformations generated by the vortices generate by surrounding fishes and swim in school formations to reduce the energetic cost. What are the key components of these behaviors? In this project, you will study this problem in simulation. Previous simulations of movement of body in fluid consider overly simplified fluid models, that does not capture the fluid dynamics, or simplified body models. We recently developed a new fluid-body simulator that can simulate the dynamics of complex rigid body geometries, similar to that of a real fishes and robots, and the dynamics of the fluid. This allows the study of collective behaviors like schooling and the incorporation of water sensing. The main goal of this project is to continue the development of the fluid solver in PyTorch, and test the ability of the model to generate self-propelled swimming. The goals can be divided in four subgoals (in order of priority): 1. Implement an interpolation method for the body fitted meshes to compute the velocities of the bodies in the fluid solver. 2. Improve the simulator's performance by porting part of the fluid solver in C++/CUDA by writing a PyTorch extension. 3. Validate the solver based on traditional benchmark tests and particle image velocimetry data from a swimming robot, and against simpler drag based fluid models. 4. Test and refine the implementation of the forces acting from the fluid to the body.

Last edited: 15/11/2024

Computational Neuroscience

755 – High-performance enconder-decoder design for computational neural signal processing
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Category:semester project, master project (full-time), internship
Keywords:Computational Neuroscience, Data Processing, Linux, Programming, Python
Type:20% theory, 5% hardware, 75% software
Responsible: (MED11626, phone: 41783141830)
Description:Background Brain-computer interfaces (BCIs) using signals acquired with intracortical implants have achieved successful high-dimensional robotic device control useful for completing daily tasks. However, the substantial amount of medical and surgical expertise required to correctly implant and operate these systems greatly limits their use beyond a few clinical cases. A non-invasive counterpart requiring less intervention that can provide high-quality control would profoundly improve the integration of BCIS into multiple settings, and represent a nascent research field, brain robotics. However, this is challenging due to the inherent complexity of neural signals and difficulties in online neural decoding with efficient algorithms. Moreover, brain signals created by an external stimulus (e.g., vision) are most widely used in BCI-based applications, but it is impractical and infeasible in dynamic yet constrained environments. A question arises here: "How to circumvent constraints associated with stimulus-based signals? Is it feasible to apply non-invasive BCIS to read brain signals, and how to do so?". To a step further, I wonder could it be possible to accurately decode complete semantic-based command phrases in real time, and further achieve seamless and natural brain-robot systems for control and interactions? The project is for a team of 1-2 Master's students, and breakdown tasks will be assigned to each student later according to their skill set. What needs to be implemented and delivered at the end of the project? 1) A method package of brain signal pre-processing and feature formulation 2) An algorithm package of an encoder and a decoder of neural signals. 3) A model of training brain signals with spatial and temporal features.

Last edited: 13/05/2025

Human-exoskeleton dynamics and control

735 – Hip exoskeleton to assist walking - multiple projects
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Category:semester project, master project (full-time), bachelor semester project, internship
Keywords:Bio-inspiration, C, C++, Communication, Compliance, Control, Data Processing, Dynamics Model, Electronics, Experiments, Inverse Dynamics, Kinematics Model, Learning, Locomotion, Machine learning, Online Optimization, Optimization, Programming, Python, Robotics, Treadmill
Type:30% theory, 35% hardware, 35% software
Responsible: (MED 3 1015, phone: 31153)
Description:Exoskeletons have experienced an unprecedented growth in recent years and hip-targeting active devices have demonstrated their potential in assisting walking activities. Portable exoskeletons are designed to provide assistive torques while taking off the added weight, with the overall goal of increasing the endurance, reducing the energetic expenditure and increase the performance during walking. The design of exoskeletons involves the development of the sensing, the actuation, the control, and the human-robot interface. In our lab, a hip-joint active hip orthosis (“eWalk”) has been prototyped and tested in recent years. Currently, multiple projects are available to address open research questions. Does the exoskeleton reduce the effort while walking? How can we model human-exoskeleton interaction? How can we design effective controls? How can we optimize the interfaces and the control? Which movements can we assist with exoskeletons? To address these challenges, the field necessitates knowledge in biology, mechanics, electronics, physiology, informatics (programming, learning algorithms), and human-robot interaction. If you are interested in collaborating in one of these topics, please send an email to giulia.ramella@epfl.ch with (1) your CV+transcripts, (2) your previous experiences that could be relevant to the project, and (3) what interests you the most about this research topic (to be discussed during the interview).

Last edited: 22/01/2025

Miscellaneous

752 – Defect detection and correction in a 3D printing filament recycling line
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Category:semester project
Keywords:3D, Firmware, Programming, Vision
Type:10% theory, 40% hardware, 50% software
Responsibles: (MED 1 1025, phone: 36630)
(DLLEL-1 20, phone: 39963)
Description:

3D printing of polymers is today a well-implemented process for many applications, including rapid prototyping. Several tens of thousands of parts are produced every year in the 3D printing workshop at SPOT, EPFL's main student makerspace. Most of these parts are produced by FDM 3D printing, using PETG filament. Every year, around 20 kg of thermoplastic waste is thus generated.

As part of its sustainability approach, SPOT has acquired a recycling line (grinding, drying, extrusion) to recycle this waste and produce new 3D printing filaments in-house. Two previous semester projects have optimized the recycling process. However, the filaments obtained can still present random defects (inclusions, diameter variations) which make them unreliable for mass 3d printing. Thus, a device has been designed and built in a previous semester project in order to detect those defects in the filament.

This project aims to further develop the device in order to improve filament quality control and to facilitate the correction of detected defects.

The various steps in the project involves:

  • Adding a spool defect mapping function to the existing device.
  • Adding a semi-automatic defect correction function.
  • Characterizing the entire process and evaluate the device's efficiency.

The student is expected to be rigorous and patient, and to have good programming and prototyping skills (mechanical design, 3D printing, laser cutting, etc). A previous experience prototyping at SPOT is required.



Last edited: 20/02/2025

Mobile robotics

754 – Development of a vision-based mobile robotic platform
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Category:semester project, master project (full-time)
Keywords:Experiments, Python, Robotics, Vision
Type:40% hardware, 60% software
Responsible: (MED11626, phone: 41783141830)
Description:INTRODUCTION Recent vision-language-action models (VLAs) build upon pretrained vision-language models and leverage diverse robot datasets to demonstrate strong task execution, language following ability, and semantic generalization. Despite these successes, VLAs struggle with novel robot setups and require fine-tuning to achieve good performance, yet how to most effectively fine-tune them is unclear given many possible strategies. This project aims to 1) develop a customised mobile robot platform that is composed of a customised and ROS2-based mobile base and robot arms with 6DOF (ViperX 300 S and Widowx 250), and 2) establish a vision system equiped with RGBD cameras which is used for data collection, 3) deploy a pre-trained VLA model locally for robot manipulation with a focus of household environment, and 4) platform testing, validation and delivery. Continuous research work of the current project can be your master thesis (Target: graduate from 2026 on-site study) Interested students can apply by sending an e-mail to sichao.liu@epfl.ch

Last edited: 05/04/2025

8 projects found.

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