Bachelor and Master theses

In the following list are topics for both Master or Bachelor theses, please get in touch with the contact person listed, to find out more (last update October 2017).


Topic: High-bandwidth self-organizing network architecture for distributed robot skin. Design of a distributed interface nodes for robot skin.

Contact person: Florian Bergner

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Topic: Constrained visual servoing. Fusion of multi-modal tactile skin with visual servoing control.

Contact person: Emmanuel Dean

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Topic: PR2: picking challenge. Integrate results obtained by the RoboCup@Home team in the PR2 robot.

Contact person: Karinne Ramirez

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Topic: Visual tracking with high-speed eyes.

Contact person: Emmanuel Dean

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Topic: Tactile self-collision avoidance for hyper redundant robots (gazebo simulation of robot skin)

Contact person: Rogelio Guadarrama

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Topic: Motor backlash compensation using multi-modal robot skin.

Contact person: Emmanuel Dean

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Topic: Force-drift compensation using temperature sensors for the multi-modal robotic skin.

Contact person: Florian Bergner

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Topic: Human-Humanoid motion transfer using whole-body body tracker while keeping stabilization.

Contact person: Emmanuel Dean

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Topic: TOMM: sensor fusion using correlated information from Multi-modal exteroceptive and interoceptive information.

Contact person: Florian Bergner

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Topic: Design, construction and control of a 1DOF torso for the robot TOMM.

Contact person: Emmanuel Dean

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Topic: TOMM picking challenge. Integrate results obtained by the RoboCup@Home team in the TOMM robot.

Contact person: Emmanuel Dean

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Topic: Natural bipedal stabilization using foot placement using whole body robot skin.

Contact person: Rogelio Guadarrama

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Topic: Full multi-modal sensor calibration using proprioceptive information (forces, proximity, joint and visual information )

Contact person: Florian Bergner

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Topic: TOMM navigation using lasers and multi-modal robot skin

Contact person: Emmanuel Dean

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Topic: Variable step optimal motion prediction for humanoid robots in presence of disturbances.

Contact person: Rogelio Guadarrama

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Topic: Stride cancellation in presence of unexpected obstacles for robust and stable bipedal walking. (Stable emergency stop during walking)

Contact person: Rogelio Guadarrama

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Topic: Adaptive End-effector dynamic compensation: obtaining dynamic model of manipulated objects.

Contact person: Emmanuel Dean

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Topic: Embedded Robot skin driver. Implement a driver for the robot skin for embedded systems.

Contact person: Florian Bergner

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Topic: Embedded Robot driver. Implement a driver to control an industrial robot with embedded systems.

Contact person: Emmanuel Dean

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Topic: Distributed energypacks (analysis of energy flow to determine the requirements of batteries and power grids in robotic systems)

Contact person: Florian Bergner

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Topic: Preserving stability while handling unknown dynamic objects (caching unknown heavy objects).

Contact person: Quentin Leboutet

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Topic: Robot modelling toolbox for C++

Contact person: Emmanuel Dean

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Topic: Optimization-based motion generation for hyper-redundant robots.

Contact person: Quentin Leboutet

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Topic: Robots that are able to distinguish their own body: sensorimotor learning algorithm for robotic self-distinction Self/other distinction, sensorimotor contingency learning, sensorimotor self, multisensory perception, enactive robots

Contact person: Dr-Ing. Pablo Lanillos

Description: The robot should be able to distinguish its own body from other agents and inanimate objects in order to interact with the environment. For this purpose, the robot learns the relation between the sensors and the actuators (i.e., spatio-temporal sensorimotor correlations). This should involve more than one sensor modality such as touch, vision and proprioception. This is a quite novel approach within the embodied artificial intelligence and gets inspiration from robotics, artificial intelligence and cognitive sciences. The study will be mainly performed on the humanoid robot TOMM developed at ICS. It consists of two UR-5 arms and a base (compact omni-directional mobile platform), running under ROS. It is almost covered with artificial skin and has stereo and RGBD vision systems.

The thesis is associated with the SELFCEPTION Marie Skłodowska-Curie project. For more info please visit: www.selfception.eu. Tasks and Objectives The Master thesis project goal will be adapted depending on the background and motivations of the student (control, machine learning, etc)

General goals:

1. Implement a system in ROS able to grab multisensory information from the robot using the available interfaces (from the artificial skin, the joint positions and the visual data).

2. Design an algorithm that learns the relation between sensors and actuators (regressor, connectionist, Bayesian inference, ...).

3. Design an on-line algorithm that learns the sensorimotor contingencies during robot interaction.

4. Implement self-exploration and interaction algorithms.

Prerequisites:

Programming skills in C++ and Robotic Operating System (ROS)

Probabilistic, connectionist or regressors modelling knowledge is a plus.

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Title: Pepper is the Professor in his office?

Goal: This topic requires that the robot interacts with unknown people in a known environment (ICS hallway). The robot should detect humans and greeting them. Furthermore, the robot should understand and answer questions about the environment, for example if a visitor comes to ICS, he/she could ask the robot to bring him/her to an specific location, e.g. the kitchen or the visitor could ask for an specific location, e.g. where is the professor's office?, please bring me there.

Prerequisites:

• Strong C++ programming skills (Linux)

• Intermediate knowledge on Python

• Basic knowledge on ROS

• Robotics background, specifically on speech recognition and navigation

• Knowledge on OpenCV (face detection)

Contact person: Dr.-Ing. Karinne Ramirez-Amaro