Project Database

This project is intended as a summer project only.

In this project, the student will work closely with other team members to develop data collection pipelines for experiments with an amphibious robot, and use these pipelines to collect and analyze experimental data. Specifically, the student will:

• Use a 4-camera system to track the 3D kinematics of the robot, ideally in real time. This includes calibrating camera intrinsics and extrinsics, labeling data and training a DeepLabCut network or applying marker-tracking libraries for offline tracking, and implementing real-time tracking nodes in ROS 2.
• Synchronize data collected from multiple sources, including cameras, force sensors, motors, and other onboard sensors.
• Visualize the collected data in MuJoCo viewer, RViz, Blender, or other 3D visualization tools.
• Assist with experimental data collection.

The student is expected to be familiar with programming in C/C++ and Python, ROS 2, and robot kinematics. Experience with Docker, Linux kernel development, communication protocols, and computer vision algorithms would be a plus.

Students interested in this project should send the following materials to the project assistant: (1) a resume, (2) a transcript showing relevant courses and grades, and (3) any additional materials that demonstrate their skills and project experience, such as videos, slides, code repositories, or previous project reports.

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 mechanical structures 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.).

Animals display a rich diversity of behaviors in natural environments, but only a small set of them have been well studied and simplified into template gaits. Recent advances in imitation learning have enabled quadruped and humanoid robots to reproduce complex animal and human motions, but these approaches have been less explored for amphibious robots that must coordinate body, limbs, and environmental interactions across water and land.

In this project, we will work on the recordings of real salamanders in a vivarium with various terrains. We will extract multi-terrain locomotion behaviors from the collected motion data. Then we will investigate how diverse salamander behaviors can be transferred to simplified salamander models or salamander-inspired robots.

The student is expected to be familiar with Python programming, signal processing, kinematics, and imitation learning. Experience with dimensionality reduction, MuJoCo simulation, and CPGs is highly recommended.

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 their skills and project experience (such as videos, slides, Git repositories, etc.).

We offer an exciting opportunity for a highly motivated graduate student in Mechanical Engineering to undertake a thesis project focusing on designing and constructing a robotic apparatus to test and validate the impact force of a dinosaur tail strike. This project spans approximately 6 months and requires a combination of mechanical design expertise, force plate measurements, innovation in biomimetic structures, and proficiency in data analysis.

Project Description

The thesis project revolves around designing, building, and controlling a life-sized robotic tail capable of replicating the striking force of a dinosaur’s club-shaped tail. The aim is to accurately measure impact force and velocity using a bone-like material reproduction sourced from fossils we have at the Palaeontological Institute and Museum of the University of Zurich. This endeavor will involve close collaboration with a multidisciplinary team and conducting experiments at our facilities at Empa Dübendorf by Zurich.

Responsibilities

• Utilize mechanical design skills (3D modeling) and motion control (microcontroller designing and programming) to create a functional life-sized Glyptodont's tail.
• Conduct tests to measure impact force and velocity, meticulously documenting experimental procedures and results.
• Employ data analysis techniques, including statistical tools or software, to interpret experimental findings.
• Demonstrate creativity in problem-solving, proposing enhancements to the biomimetic tail design where necessary.
• Collaborate effectively within a team, communicating ideas and contributing to the project's success.

Requirements

Background in mechanical designing with proficiency in 3D modeling.

Expertise in motion control, including microcontroller designing and programming.

Ability to collect, analyze, and interpret experimental data using statistical tools or software.

Strong problem-solving skills with a demonstrated ability to innovate in design and testing.

Excellent communication skills to collaborate within a team and articulate ideas effectively.

Expected Outcomes

Successful creation of a fully functional life-sized Glyptodont's tail within the thesis duration.

Execution of tests to accurately measure impact force and velocity.

Comprehensive documentation of experiments and results.

Recommendations for potential enhancements or modifications based on findings.

If you are a Master's student passionate about pushing the boundaries of robotics, biomimicry, and mechanical engineering and are looking for an engaging thesis project, we encourage you to apply. Please submit your resume/CV along with a cover letter detailing your relevant experience and why you are excited about this exceptional thesis opportunity to Auke Ijspeert as well as Ardian Jusufi.