Приглашение на PhD, человекоподобные роботы (IIT, Генуя, Италия)

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PhD positions in Humanoid Robotics. Deadline: September 20, 2013.

Requirements: Candidates are expected to have good knowledge and experience in rigid body dynamics, classical and modern control theory and good programming skills (Matlab, C/C++) (Dynamics/Control %70, Programming 30%). + знание английского языка (знание итальянского опционально, официальный язык института английский. поэтому изучение итальянского остается на личное усмотрение).


Theme: Dynamic Simulation Study And Experimental Implementation Of High Performance Leg For Jumping, Hopping, And Running
Tutors: Dr. Zhibin LI, Dr. Roy Featherstone, Dr. Nikos Tsagarakis
Department: ADVR (Istituto Italiano di Tecnologia)


Description: The capability of walking endows humans to traverse most landforms. However, to negotiate with discrete terrains, counteract large disturbance, and travel fast, the ability to jump, hop, and run becomes a must.

The research will explore the theoretical aspects of physics for jumping, hopping and running in order to discover the necessary physical attributes of a leg that is suitable at these tasks. The control aspects of jumping, hopping and running will also be explored in order to develop control schemes that obtain the highest possible performance from a given leg.
The candidate is expected to perform experiments on the leg prototype in order to investigate the practical and technical aspects of achieving high performance. The aim should be to demonstrate a level of performance that exceeds any existing leg designs demonstrated in literature. The leg compliance will also be studied for improving the stability and robustness given a set of physical parameters of the leg such as mass distribution, inertia.

Requirements: The candidate should work as part of a team with the responsibility for analyzing the leg's performance at jumping, hopping and running, and suggesting approaches in which the leg design could be improved Candidates are expected to have good knowledge and experience in rigid body dynamics, mechanics, classical and modern control theory, programming skills (Matlab, C/C++) (Dynamics/Control %70, Programming 30%).



Theme: Whole-Body Cooperative Manipulation During Dynamic Locomotion
Tutors: Dr. Zhibin LI, Dr. Jinoh Lee, Dr. Nikos Tsagarakis
Department: ADVR (Istituto Italiano di Tecnologia)


Description: The research aim is to develop a control framework that permits the humanoid robots to form multiple compliant contacts to perform cooperative manipulation tasks with humans while resolving the balancing, walking, and redundancy issues.

The algorithms to be developed should interpret certain level of motion intention from human operator through the contacts with the shared object so as to allow the robot to cooperate with human with no requirement of additional vision assistance. The PhD candidate is expected to explore different control approaches such as optimal control, impedance control to robustly execute the manipulation tasks while undergoing external disturbances, limited sensor resolutions, non-modeled contact conditions (uncertainty from friction, elastic objects), and deal with the redundancy problem in real-time. Apart from the control aspect, traditional sensory feedbacks such as joint torque, end-effector force/torque, as well as the novel sensory techniques such as robotic skins, will be investigated as well. The whole control framework might partition the manipulation task and the balancing or walking task as different modules, but since they are dynamically coupled, it has to consider the interplay between these sub-tasks in order to generate a smooth and dynamically stable whole-body motion. The algorithms will be tested on the full-body intrinsically COmpliant huMANoid robot COMAN with torque control features.

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Dr. Zhibin LI
--
Zhibin LI, PhD
Postdoctoral researcher
Humanoids & Human Centred Mechatronics
Department of Advanced Robotics
Italian Institute of Technology

вопросы можно также задавать мне в личку.

http://www.iit.it/
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