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.
Search filter: only projects matching the keyword Compliance are shown here. Remove filter
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
| 745 – Investigation of the functions of passive feet for sprawling type quadruped robots |
| 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: | 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 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.). Last edited: 05/11/2024 | |
Human-exoskeleton dynamics and control
| 735 – Hip exoskeleton to assist walking - multiple projects |
| 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, (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: 05/11/2024 | |
2 projects found.