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 Artificial muscles 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
Quadruped robotics
A small excerpt of possible projects is listed here. Highly interested students may also propose projects, or continue an existing topic.
| 747 – Learning frog gaits and their transitions |
| Category: | semester project, master project (full-time) | |
| Keywords: | Artificial muscles, Learning, Locomotion, Python | |
| Type: | 100% software | |
| Responsibles: |
(MED 1 1024, phone: 30563)
(MED 1 1611, phone: 36714) | |
| Description: | During terrestrial locomotion, some frog species display both out-of-phase walking or in-phase hopping limb movements. It has been suggested that changes in these gaits arise to minimize energy consumptions. In this project we will explore this hypothesis by simulating the frog terrestrial locomotion using reinforcement learning. We will use a biomechanical model of the frog adopted with artificial muscles to investigate the optimal gaits for different terrain conditions (low-medium-high ground stiffness). The plantaris longus tendon has been associated with a crucial ability of the frog to store elastic energy during frog jumping. We will test this hypothesis in simulation. The goals can be divided in these subgoals (in order of priority/time): 1. Compute the inertial properties of the frog and URDF file creation 2. Train a neural network controller using reinforcement learning and design of the cost function 3. Testing the ability of the model to walk and hop in simplified scenarios Last edited: 12/11/2024 | |
| 743 – Quadruped Robot Projects (Several) |
| Category: | semester project, master project (full-time) | |
| Keywords: | Agility, Artificial muscles, Bio-inspiration, C++, Computer Science, Control, Experiments, Learning, Locomotion, Machine learning, Muscle modeling, Online Optimization, Optimization, Programming, Python, Quadruped Locomotion, Robotics, Simulator, Vision | |
| Type: | 10% theory, 20% hardware, 70% software | |
| Responsible: | (MED 1 1024, phone: 37506) | |
| Description: | There are several quadruped robot projects available related to locomotion, jumping, and human-robot interaction, with methodologies including deep reinforcement learning, imitation learning, optimal control, and computer vision. Students who already have experience with deep learning, C++, vision, and who have worked with hardware are especially encouraged to apply. Please send Guillaume your CV, transcript, and explain your motivation on what kind of topics you would be interested in working on (more details = better!). Last edited: 18/07/2024 | |
2 projects found.