[robotics-worldwide] [jobs] Post-doctoral position at CNRS/AIST JRL

Adrien Escande adrien.escande at gmail.com
Sun Dec 8 18:56:35 PST 2013


*Topic*: *Humanoid Walking on Deformable Terrains *





Humanoid walk planning and control are studied both in robotics and in
computer graphics animation. Currently, virtual avatars and
poly-articulated robots such as humanoid robots can move on horizontal flat
surfaces, slightly sloped ground or climb stairs. The recently demonstrated
walking gait generation and footprints planning in humanoid robotic
locomotion are still primarily dealing with rigid (but not necessarily
flat) supports in the environment. Humans and animals however are capable
to walk on deformable terrains such as sand, mattress, etc. and even on
highly deformable ones. We distinguish two types of deformable terrains:
the first ones do not restitute any energy after deformation (e.g. sand or
mud), the second ones store energy when deforming and restitute (at least)
part of it when no load are applied on them (e.g. mattress or trampoline).



In the frame of the KoroiBot FP7 EU project, the topic of this post-doc is
to make current humanoids capable to walk on such deformable terrains, by
developing adequate models and controllers. One particularity of the
KoroiBot project is to measure human strategies that may possibly inspire
the strategy of the controllers. This study will be performed at one of the
KoroiBot team and the interested candidate will be involved in the
recording and the interpretation of motion capture data of human walking on
different deformable terrains. These data can be exploited to design the
control strategy for humanoid walking. Once implemented and experimented
(under similar human measurement conditions), we will compare the results
and assess the robustness and the quality of the humanoid robot walks.



These research and developments must be demonstrated in challenging
scenarios involving the HRP-2 and HRP-4 humanoid robots.


 *Locations*: the post-doc will be conducted at the CNRS-AIST Joint
Robotics Laboratory, UMI 3218/CRT at Tsukuba, Japan and also partly at the
CNRS-UM2 LIRMM at Montpellier, France. 3 months shall be spent at one of
the partners’ laboratory to conduct human-motion capture data.


*Duration*: 2 years, possible extension to 3 years.



We are looking for a candidate with a good background in humanoid walking,
automatics or mathematics. A fair knowledge in C++ and python would be a
plus for the experimental part.

Interested candidates shall send a detailed CV with a cover letter
highlighting their work related to the subject to the following advisory
team:



*Advisory team*

Adrien Escande  *adrien.escande :at: gmail.com <http://gmail.com>*

Mitsuharu Morisawa *m.morisawa :at: aist.go.jp <http://aist.go.jp>*

Shuuji Kajita *s.kajita :at: aist.go.jp <http://aist.go.jp>*

Abderrahmane Kheddar  *kheddar :at: gmail.com <http://gmail.com>*


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