[robotics-worldwide] PostDoc Position - Impedance controlled robotic walking - ETH Zurich

Jonas Buchli buchlij at ethz.ch
Tue Jan 15 07:05:57 PST 2013

Post-Doc position at the Agile and Dexterous Robotics Lab at ETH Zürich
Impedance controlled walking for robots and exoskeletons - Application 
of bio-mechanical models and co-control with humans


The candidate will adapt models of human and animal locomotion from 
bio-mechanical research for the use on torque controlled robots with 
arms and legs. The work is focused on robust standing (balancing) and 
walking control using active impedance control. The standing needs to 
adaptive and robust to different terrain conditions and towards 
modelling error. Extensions towards exoskeleton (co-control with humans) 
and adaptive/learning control are planned.


The successful candidate will work in the frame of the EU Project 
BALANCE. The primary goal of the project is to develop exoskeletons to 
improve the balance performance of humans.

At the ADR lab we seek to understand the control of dynamic motions of 
robots, humans and animals in unstructured environments. This 
understanding will let us provide the ‘intelligence’ for versatile, 
agile and dexterous service robots.

Topics include:

- Control of legged locomotion
- Bio-mechanical models of balancing and locomotion
- Human/Exoskeleton co-control
- Whole body control
- Active impedance control
- Multi-contact control
- Full body force and impedance control
- Applied machine learning and optimization to robotics


- Starting Date: On negotiation. The position is open for immediate filling.
- Evaluation of candidates starts on receipt of applications but will 
continue until position is filled (see http://www.adrl.ethz.ch for updates).


- PhD in Robotics or closely related field
- Excellent academic track record in topics related to the project
- Very good English skills, written and spoken
- Above average Team & Communication skills
- Excellent programming skills
- Excellent analytical skills & Critical thinking
- Persistence!

Experience with:
- Compliance, Stiffness, Impedance control
- Torque controlled robots
- Rigid body dynamics
- Signals and Systems knowledge
- Control engineering background
- Experience with physics simulators
- Machine learning background
- Unix/Linux knowledge

Post-Docs  are expected, in addition to their research, to participate 
in teaching, supervision of bachelor's and master's projects, 
supervision of PhD students, grant preparation and the general 
activities of the Lab.


Please send your CV, a letter of motivation (incl. statement of research
interests/letter of motivation), 3 reference letters to Prof. Dr. Jonas 
Buchli <buchlij (at) ethz (dot) ch> quoting [PostDoc Application S_13_1] 
in the subject. Please send all documents in PDF or plain text format only.

Include a link to your PhD thesis and 3 of your most relevant papers.

For questions please contact Jonas Buchli  <buchlij (at) ethz (dot) ch>.


We offer a contract of 1 year with possible extension in an exciting 
research opportunity at the forefront of one of the most dynamic 
engineering fields.

A post-doc position at ETH 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.


- 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
ETH Zürich

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