[robotics-worldwide] 2 PhD Positions - Control and Learning for Autonomous Legged Manipulation - ETH Zurich
buchlij at ethz.ch
Tue Jun 12 08:15:18 PDT 2012
2 fully funded PhD Research Assistant positions at the Agile and
Dexterous Robotics Lab at ETH Zürich
* Position A - Control of autonomous legged manipulation
This project aims at pushing the state of the art of model based control
and planning for robots with arms and legs in unstructured environments.
We aim at dynamic locomotion and manipulation, running, jumping, fast
reaching, reaching and manipulating while walking etc. These motions
should be at all time precisely planned and controlled through the
appropriate use of force, impedance and whole body model based control.
* Position B: Learning control for autonomous legged manipulation
This projects will study how a robot can autonomously acquire the skills
and models required to accomplish precise dynamic control of its arms
and legs in unstructured environments. The goal is to complement the
model based controller and planner methods with adaptive and learning
methods, to adapt to changes in the robot & environment dynamics, e.g.
payloads, different grounds, failures of components etc.
The successful candidates will work in the frame of a larger effort to
get robots with arms and legs out of the lab into unstructured
environments such as homes, factory floors, construction and disaster
sites. We want these machines to work robustly in such environments and
do useful work to assist humans in tasks that are too dangerous, require
more strength or endurance or are simply tedious. These tasks pose many
challenging problems for robots, from control to perception and
The successful candidates for this positions are going to work on
control and learning control for such robots doing 'autonomous mobile
The solutions will be evaluated in the frame of a mock-up disaster
recovery scenario on existing robot hardware (IIT HyQ, StarlETH, SARCOS
Possible Topics include:
- Control of legged locomotion
- Whole body control
- Planning for dynamic motions of robots with arms and legs
- Multi-contact control
- Combination of whole body control and state estimation
- Full body force and impedance control
- Applied machine learning to robotics
- Data driven robotics
- Robotic parkour: Running, jumping, using hands and legs to locomote
- Starting Date: September 1, 2012 (later starts possible)
- Evaluation of candidates start July 1, but will continue until
positions are filled (see http://www.adrl.ethz.ch for updates).
- MSc or equivalent in Electrical, Mechanical Engineering, Computer
Science, Physics or closely related field
- Excellent academic track record
- Very good English skills, written and spoken
- Above average Team & Communication skills
- Excellent programming skills
- Excellent analytical skills & Critical thinking
Not required but beneficial:
- Signals and Systems knowledge
- Control engineering background
- Experience with robotics and related mathematical fields
- Experience with physics simulators
- Machine learning background
- Unix/Linux knowledge
- Rankings in engineering/science competitions
- Previous research experience
PhD Research Assistants are expected, in addition to their PhD research,
to participate in teaching, supervision of bachelor's and master's
projects, and the general activities of the Lab.
**[HOW TO APPLY]**
Please send your CV, a letter of motivation (incl. statement of research
interests), 2 reference letters, and a copy of your transcripts (BSc and
MSc) to Prof. Dr. Jonas Buchli <buchlij (at) ethz (dot) ch> quoting [PhD
Application F_12_1] in the subject. Indicate project preference if any.
Please send all documents in PDF or plain text format only.
Optionally send in a copy of undergrad project reports, semester papers
or anything else that shows your ability for scientific work and writing.
For questions please contact Jonas Buchli <buchlij (at) ethz (dot) ch>.
**[WHAT WE OFFER]**
We offer an exciting research opportunity at the forefront of one of the
most dynamic engineering fields. You will have both, one of the steepest
personal learning experiences in your life as well as the opportunity to
make an impact in the international robotics community.
You will be working in an international team of highly motivated and
skilled people. You will grow into a network of international robotics
professionals - Collaboration and exchange opportunities include, but
are not limited to the USA, Italy, Germany, Japan and the UK.
A research assistant position is a regular job with social benefits, an
attractive salary and access to excellent facilities in one of the
world's leading technical universities. Zurich is regularly voted
among the top cities in the world for quality of life.
**[THE ADR LAB @ ETHZ]**
- Information about the Agile and Dexterous Robotics lab can be found at
- ADRL is located at the Institute of Robotics and Intelligent Systems:
http://www.iris.ethz.ch/ and the Dept. of Mechanical Engineering:
- Information about ETH can be found at http://www.ethz.ch/
Prof. Dr. Jonas Buchli
Head Agile and Dexterous Robotics Lab
Institute of Robotics and Intelligent Systems
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