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Multifingered Robot Hand Simulation and Control

Human-Robot Interaction

Project description:

As robotics continues to evolve, there is a critical need for robust vision-guided safety approaches that effectively integrate human visual tracking methods to ensure compliance with current safety standards and operational guidelines in collaborative and shared environments. Achieving this requires precise human pose tracking, which forms the basis for safety algorithms that enable robots to dynamically adapt to human movements while maintaining task performance. However, high tracking accuracy often comes at high costs, including complex sensor fusion setups that must integrate multiple camera inputs with human motion models. The latter can be further guided by task-specific knowledge and requirements. To address this challenge, this project focuses on developing robust, scalable human tracking approaches that balance the accuracy, cost, and complexity of human motion tracking setups.

Within the context of our ongoing research, you will have the opportunity to collaborate with experienced researchers at our lab, gaining hands-on experience with different camera systems, pose tracking algorithms and real robots. This opportunity will allow you to expand your robotics development and programming skills while contributing to cutting-edge research in safe human-robot collaboration. 

Possible topics to be addressed within the scope of the project:
  • Markerless human pose tracking solutions and reconstruction frameworks against marker-based MoCap system (using Vicon MoCap as reference ground truth)
  • Performance evaluation of multiple commercial RGB-D cameras and open-source tracking solutions for the motion tracking of human body landmark points
  • Proposal of suitable visual sensor fusion approaches for merging the pose tracking outputs and improving its performance
  • Development of human motion model(s) and its synchronization with the sensor fusion estimations
  • Quantification of safe performance trade-offs vs. visual tracking errors
Prerequisites:
  • Master-level studies in Electrical Engineering, Informatics, Computer Science or any relevant programme
  • Working knowledge of computer vision and camera-based systems
  • Practical experience with ROS, with good C++/Python programming skills
  • Good knowledge of state estimation and sensor fusion algorithms  (e.g., Kalman Filter)
  • Proficiency with MATLAB/Simulink
  • Ability to work in a well-structured and organized manner
Work places:
  • Georg-Brauchle-Ring 60-62, 80992 München
  • Carl-Zeiss-Straße 8, 85748 Garching bei München
Contact info:

Chair of Robotics Science and Systems Intelligence, Munich Institute of Robotics and Machine Intelligence (MIRMI) - The AI Mission Institute (AIM), Technical University of Munich (TUM)

Robot Control

Project description:

A critical factor in agile production is the efficient flow of material, also known as intralogistics. Although very promising as a flexible component in intralogistics chains, robotics has not yet found its way into agile production. Especially for operation alongside humans, current robots lack the required high degree of flexibility, capability, cost-effectiveness and safety. We are currently developing cutting-edge agile production robotic systems to execute highly dynamic yet efficient motions and manipulation tasks. These systems will have predictive planning capabilities, which allow safe and efficient operation within unknown, changing environments shared with humans. They must meet the following objectives in terms of efficiency in manipulation and human-robot co-production:

  • Dynamic whole-body motion/manipulation capabilities
  • Risk-aware motion planning and safety
  • Energy efficiency
  • Human-like performance 

Within the context of this project, you will have the opportunity to collaborate with experienced researchers at our lab. Furthermore, this position also allows you to improve your robotics development and programming skills by working on a mobile robotic manipulator system. 

Possible topics to be addressed within the scope of the project:
  • Modular whole-body dynamic modeling and identification
  • Whole-body motion control of wheeled mobile manipulators
  • Safety issues emerging from mobile robots navigating in industrial environments  
  • Human safety in collaboration with mobile manipulation systems in industrial use-cases   
Prerequisites:
  • Master-level studies in Electrical Engineering, Informatics, Computer Science or any relevant programme
  • Good knowledge of robotics software development, especially dynamics, motion planning and control.
  • Practical experience with ROS (hands-on experience/previous projects with Franka Emika robot arm is a plus)
  • Excellent C++ programming skills
  • Proficiency with Matlab/Simulink
  • Ability to work well structured and organized
Work places:
  • Georg-Brauchle-Ring 60-62, 80992 München
  • Carl-Zeiss-Straße 8, 85748 Garching bei München
Contact info:

Chair of Robotics Science and Systems Intelligence, Munich Institute of Robotics and Machine Intelligence (MIRMI) - The AI Mission Institute (AIM), Technical University of Munich (TUM)

Project-Typ: Forschungspraxis/Masterthesis Application deadline: August 10, 2025

Efficient and fast manipulation is still a big challenge in the robotics community. Traditionally, generating fast motion requires scaling of actuator power. Recently, however, more attention has been paid to “additional ways” for mechanical energy storage and release in order to keep the actuator power requirements baseline lower (just enough to satisfy general manipulation requirements). To introduce “fast mode” manipulation energy could “be injected” from mechanical elements present in the system. It can be useful for tasks such as throwing or other explosive maneuvers.

Bi-Stiffness Actuation (BSA) concept [1] is the physical realization of the previously mentioned idea. There, a switch-and-hold mechanism is used for full link decoupling while simultaneously breaking the spring element (allowing controlled storage and energy release). Changing modes within the actuator (clutch engagement and disengagement) is followed by the impulsive switch of dynamics.

Students are expected to study and understand the physical and mathematical representations of developed concepts. Apply and gain an understanding of 3-DoF manipulator systems, their control, and classifications. Further, using the state-of-the-art technique develop a controller suitable for various tasks. Particular reserach focus will be decided after literature review and common discussions.

Requirements from candidates:

    Knowledge of Matlab, C++, Python
    Working skills in Ubuntu operating system
    Familiarity with ROS
    Robotics (Forward, backward dynamics and kinematics)
    Proficiency in English C1, reading academic papers
    Plus are:
        Knowledge of working with Gazebo/MuJoCo
        Familiarity with GIT  
        DesignPatterns for coding
        Familiarity with Docker
        Googletest (or other testing framework)


[1] Ossadnik, Dennis, et al. "BSA-Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots." 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2022.


To apply, you can send your CV, and short motivation to:

Supervisor M.Sc. Vasilije Rakcevic

vasilije.rakcevic(at)tum.de



 

Telepresence

Human modeling

Brain Computer Interface Systems

Robot Learning

Electronics

Pos-type: Forschungspraxis/Masterthesis Application deadline: August 10, 2025

Custom PCB design

Brushless motors are growing in popularity for Robotics applications. In particular, due to their high power density, these motors can be used with smaller gear ratios to deliver the torque and speed requirements. For example, the key to MIT mini cheetah's success was BLDC adaptation within the Proprioceptive Actuator concept [1]. You haven't seen its performance, check it here.

Interesting part of using BLDC actuators is the versatility of its electronics, since it requires a logic unit (usually a microcontroller) for its control. It requires 3 phases to be coordinated in a specific manner to supply needed power. This concept is not new, one of the most popular mainstream approaches is FOC control for BLDC. Underlying system design is quite important, which in this case consists of the custom PCB controller and the motor itself. Backdrivability is a core of this actuation technology. Building electronics that supports energy recuperation and ensures stable control while handling impact, etc. is a research question to explore. 
 

Having in mind the challenge, the person should be familiar with the PCB design. Willing to do the signal hacking, debugging, working with the oscilloscope, understand logic of different components, etc. Brushless motors are commonly used in the hobby project, thus experiance can provide great foundation for "build your own things" mindset. At least we do expect the hands-on and genuine curiosity in the engineering & design aspects from the students joining us. 

What you will gain:

  • Hands-on experience and in-depth understanding of Brushless Motors, and their control
  • Best practices for PCB Design and Project Collaboration
  • Experience building, prototyping
  • Hacking electronic signals (via oscilloscope, etc.)
  • Insights in our System Development and access to our community

Requirements from candidates:

  • Knowledge of Electronics/Power electronics
  • Experience with PCB design and soldering
  • Knowledge of one of the popular PCB Design software
  • Basic Matlab skills
  • Plus are:
    • Understanding how Motors work
    • Familiarity with GIT
    • Embedded system programming, knowledge of C language
    • Working skills in Ubuntu operating system

 

To apply, you can send your CV, and short motivation to:

Supervisor

M.Sc. Vasilije Rakcevic

vasilije.rakcevic(at)tum.de

 

 

[1] P. M. Wensing, A. Wang, S. Seok, D. Otten, J. Lang and S. Kim, "Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots," in IEEE Transactions on Robotics, vol. 33, no. 3, pp. 509-522, June 2017, doi: 10.1109/TRO.2016.2640183.

 

Mechatronics System Developement

Internship/Master thesis | Application deadline: August 10, 2025

CAD Sketch of Parallel Elastic Actuator

Recent advancements in robotics, especially concerning humanoids and quadrupeds, are largely due to the adoption of novel actuator technologies. These technologies are involving high power density BLDC motors with a lower gear ratio, with the aim of maintaining good proprioceptive feedback for control. [1] However, active development of new actuation concepts is ongoing. One of the important directions is an augmentation of such actuators with mechanical springs for storing and releasing energy at the dynamic peaks.

Our work focuses on the development and testing of one such actuator, a version of the Parallel Elastic Actuator. This particular task includes the manufacturing of a simple test-actuator that integrates a backdrivable motor with a spring and a torque sensor connected in parallel. Further, a performance characterization of the motor will be conducted (Bode plot analysis, etc.). Additionally, an impedance controller will be evaluated on such a setup.

 

What you will gain:

  • Experience in Modeling and Control of Robotics systems
  • Experience building, prototyping
  • Best design practices for torque sensor integration in actuators
  • Insights into our System Development and access to our community
  • BLDC motor control

Requirements from candidates:

  • Mechanical Engineering background
  • Completed classical control courses (or some project experience in control)
  • Any CAD software for the Part designs (such as Solidworks, Fusion 360,etc.)
  • Matlab skills
  • Basic skills in Electronics
  • Plus are:
    • Understanding how Motors work
    • Familiarity with GIT
    • Working skills in Ubuntu operating system

 

To apply, you can send your CV, and short motivation to:

 

Supervisor

M.Sc. Vasilije Rakcevic

vasilije.rakcevic(at)tum.de

 

 

 

 

 

[1] P. M. Wensing, A. Wang, S. Seok, D. Otten, J. Lang and S. Kim, "Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots," in IEEE Transactions on Robotics, vol. 33, no. 3, pp. 509-522, June 2017, doi: 10.1109/TRO.2016.2640183.

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