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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

756 – Imitating animal behavior on a bio-inspired robot with reinforcement learning
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Category:semester project, master project (full-time)
Keywords:Experiments, Learning, Programming, Robotics, Simulator
Type:15% theory, 10% hardware, 75% software
Responsibles: (MED 1 1611, phone: 36620)
(MED 1 1611, phone: -)
(MED 1 1626, phone: 38676)
Description:

Introduction

This project has been taken.

The spinal cord in many vertebrates contains a central pattern generator (CPG)[1] that can control the physical body to interact with the environment and produce diverse rhythmic motor patterns, such as walking and swimming. And amphibious robots are good biological counterparts of animals for understanding their locomotion. In this project, we would like to use the Deep reinforcement learning framework BRAX[2] in MuJoCo[3] for exploring and designing CPG controllers for a bio-inspired robot Polymander[4] and then verify the controller in real experiments.

Main Contents (PdM contents in bold)

  • Migrate the existing CPG-controller into MuJoCo Jax framework to prepare robot simulation experiments
  • Use Deep reinforcement learning to train a CPG network for Polymander to walk [, swim, and transition] in different terrains. If needed, access to EPFL scitas computing cluster would be provided.
  • Deploy the network on real robots for validation [and reduce the reality gap].

The student is expected to be rigorous and patient, have good programming skills and prior knowledge in reinforcement learning. Having taken the course CS-433 Computational Motor Control is a plus, but not mandatory. Students interested in this project could send CV, transcripts, and materials that can demonstrate project experience, if possible, to supervisors listed above.

Reference

  • Ijspeert, Auke Jan, et al. "From swimming to walking with a salamander robot driven by a spinal cord model." science 315.5817 (2007): 1416-1420.

  • Freeman, C. Daniel, et al. "Brax--a differentiable physics engine for large scale rigid body simulation." arXiv preprint arXiv:2106.13281 (2021).
  • Todorov, Emanuel, Tom Erez, and Yuval Tassa. "Mujoco: A physics engine for model-based control." 2012 IEEE/RSJ international conference on intelligent robots and systems. IEEE, 2012.
  • Gevers, Louis, et al. "Investigating the effect of morphology on the terrestrial gaits of amphibious fish using a reconfigurable robot." Bioinspiration & Biomimetics (2025).


Last edited: 18/06/2025
757 – Development of radio and vision electronics for a salamander inspired robot
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Category:semester project, master project (full-time)
Keywords:Bio-inspiration, Biomimicry, Communication, Electronics, Embedded Systems, Firmware, Programming, Prototyping, Radio, Robotics, Sensor Fusion, Vision, sensor
Type:70% hardware, 30% software
Responsible: (MED 1 1626, phone: 38676)
Description:

Pleurobot is a salamander-inspired robot that is capable of moving in and transitioning between terrestrial and aquatic environments. Some research projects in our lab have demonstrated the effectiveness of vision-guided or human-controlled locomotion transition strategies. However, the present Pleurobot is unable to use similar strategies robustly, especially in outdoor environments, because of lacking vision systems or robust wireless controllers.

In this project, the student will need to develop vision systems for Pleurobot that can operate in amphibious environments. In addition, a robust radio controller is needed to operate the robot in outdoor environments. Both systems need to be integrated into the ROS 2 controller running on the onboard computer. The major challenges include the requirements for waterproofing, the limited space for electronics, and the fusion of multiple sensory systems in an embedded system.

The student is expected to have solid backgrounds in circuit design for embedded systems, firmware programming, and familiarity with ROS 2. The student who is interested in this project could send his/her transcript, CV, and materials that can demonstrate his/her past project experience to qiyuan.fu@epfl.ch.



Last edited: 17/06/2025
758 – Optimization of compliant structure designs in a salamander robot using physics simulation
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Category:master project (full-time)
Keywords:Bio-inspiration, Biomimicry, Compliance, Dynamics Model, Experiments, Locomotion, Optimization, Programming, Python, Robotics, Simulator, Soft robotics
Type:30% theory, 20% hardware, 50% software
Responsibles: (MED 1 1611, phone: 36620)
(MED 1 1626, phone: 38676)
Description:

In nature, animals have many compliant structures that benefit their locomotion. For example, compliant foot/leg structures help adapt to uneven terrain or negotiate obstacles, flexible tails allow efficient undulatory swimming, and muscle-tendon structures help absorb shock and reduce energy loss. Similar compliant structures may benefit salamander-inspired robots as well.

In this study, the student will try simulating compliant structures (the feet of the robot) in Mujoco and optimizing the design. To bridge the sim-to-real gap, the student will first work with other lab members to perform experiments to measure the mechanical properties of a few simple compliant structures. Then, the student needs to simulate these experiments using the flexcomp plugin of Mujoco or theoretical solid mechanics models and tune the simulation models to match the dynamical response in simulation with the experiments. Afterward, the student needs to optimize the design parameters of the compliant structures in simulation to improve the locomotion performance of the robot while maintaining a small sim-to-real gap. Finally, prototypes of the optimal design will be tested on the physical robot to verify the results.

The student is thus required to be familiar with Python programming, physics engines (preferably Mujoco), and optimization/learning algorithms. The student should also have basic mechanical design abilities to design models and perform experiments. Students who have taken the Computational Motor Control course or have experience with data-driven design and solid mechanics would also be preferred.

The student who is 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.).



Last edited: 17/06/2025
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

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
739 – Radio communication tests on 169.4 MHz
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Category:semester project
Keywords:Electronics, Embedded Systems, Firmware, Radio
Type:10% theory, 70% hardware, 20% software
Responsible: (MED 1 1025, phone: 36630)
Description:

Mobile robots often communicate over the 2.4 GHz band using standard off-the-shelf technologies as WiFi or Bluetooth, or sometimes custom radio protocols either on the 2.4 GHz or 868 MHz ISM bands, both on the UHF part of the radio spectrum. This project aims at evaluating the possibility of using the 169.4 MHz band (VHF) for controlling robots and obtaining telemetry, as it might give much better results in terms of range and transmission through obstacles or water, even if the available bandwidth is much more restricted.

The project involves:

  • Identifying an appropriate RF module/chip
  • Creating a printed circuit if necessary
  • Using a microcontroller to control the RF module and obtain bidirectional communication
  • Experiments for range in open air, through obstacles and underwater

Requirements: experience with digital electronics and basic understanding of radio communications and related concepts (e.g. transmission lines, antennas). Previous experience with radio frequency and/or PCB design is a plus.



Last edited: 11/06/2024 (revalidated 15/01/2025)

Mobile robotics

744 – Multi-robot coordination of assistive furniture swarm in multiple layers using velocity potential field modulation
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Category:master project (full-time)
Keywords:3D, Control, Motion Capture, Programming, Python, Robotics, Simulator
Type:40% theory, 10% hardware, 50% software
Responsible: (undefined, phone: 37432)
Description:We are exploring the concept of a mobile furniture swarm that are intended to assist users with limited mobility in their daily indoor activities. To facilitate multiple uses of limited space, mobile furniture pieces can autonomously rearrange their formation (e.g., setups for meetings, parties, or cleaning). To enhance daily autonomy, assistive furniture can actively move out of the way for a wheelchair user passing by, or follow the user to help carrying objects. Our previous algorithm, Velocity Potential Field Modulation (VPFM), has been proposed to deal with the dense coordination problem of a polytopic swarm in 2D scenarios. For more information, please check out our recent publication in IEEE RA-L: -- Title: Velocity Potential Field Modulation for Dense Coordination of Polytopic Swarms and Its Application to Assistive Robotic Furniture -- Paper: https://ieeexplore.ieee.org/document/11027457 -- Code: https://github.com/Mikasatlx/VPFM-BioRob-EPFL In this master thesis, we will focus on extending VPFM to multiple layers (or height), which can increase the efficiency of using the 3D space. For example, the lower table can move through a higher table, and the seat of a chair can go under a higher table, but the back of a chair can not. The current framework is to couple the coordination behavior over multiple layers, and introduce stochastic component to break the deadlocks/oscillations. We will conduct both simulations and real-world experiments (using VICON motion capture system) to evaluate its effectiveness and real-time performance. For thesis with meaningful results, we will aim for a submission to the 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026).

Last edited: 15/06/2025
754 – Development of a vision-based mobile robotic platform
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Category:semester project, master project (full-time), internship
Keywords:Control, Experiments, Learning, Python, Robotics, Vision
Type:20% theory, 20% 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). For appliciants not from EPFL, please check the conditions and requirements at EPFL before reaching me. Interested students can apply by sending an e-mail to sichao.liu@epfl.ch The position is open until having final candidates.

Last edited: 15/05/2025

10 projects found.

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