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 Control 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
Miscellaneous
| 771 – Diffusing Elementary Dynamics Actions |
| Category: | semester project, master project (full-time) | |
| Keywords: | Bio-inspiration, Control, Robotics | |
| Type: | 20% hardware, 80% software | |
| Responsible: | (Martigny, phone: none) | |
| Description: | The project will use a diffusion policy as a high-level model-predictive controller operating at a relatively low frequency. This controller will activate feedforward actions consistent with the theory of Elementary Dynamic Actions (EDA), inspired by principles of human motor control. Using this framework, the student will test hypotheses about the structure and organization of human motor control. In this project, the student will collect motion and force data during contact interactions (using an OptiTrack motion-capture system and a Bota Systems force-torque sensor), they will use Idiap's high-performance computing (HPC) grid to train models, and they will evaluate the controller on a Franka robot. This project will done in collaboration with James Hermus at IDIAP. Last edited: 03/12/2025 | |
One project found.