Project Database

This project is part of an ongoing collaboration with Prof. Eva Naumann at Duke University (USA) to study and model zebrafish sensorimotor integration using simulation and robots. It follows two collaborative studies that were published in Science robotics, see Artificial embodied circuits uncover neural architectures of vertebrate visuomotor behaviors, Energy efficiency and neural control of continuous versus intermittent swimming in a fishlike robot and FARMS: Framework for Animal and Robot Modeling and Simulation.

Depending on the interest of the student, there are several new avenues to be explored. These include: (i) improving the neuromechanical simulation and integrating it into a new simulation framework (FARMS, link), (ii) applying deep reinforcement learning for designing biologically constrained sensory-motor circuits, (iii) investigating new visually-guided behaviors, and/or (iv) programming and improving ZBot for neuroscience related studies.

The project will normally take place at EPFL, but could also happen at Duke University if there is interest.

This project has been taken

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. Note that because we rely on DeepLabCut to track the animal kinematics from videos, the student may spend half a semester on labeling video data , unless a better tracking method is found or developed.

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.