[robotics-worldwide] [jobs] Research Internship Opening on "3D Perception for Humanoid Robots", at the Italian Institute of Technology (IIT), Genoa
dimitrios.kanoulas at iit.it
Fri Dec 5 09:10:03 PST 2014
*Research Internship Opening on "3D Perception for Humanoid Robots", at the
Italian Institute of Technology (IIT), Genoa*
*Where:* Humanoids and Human Centred Mechatronics Lab, Department of
Advanced Robotics (ADVR-IIT) at the Istituto Italiano di Tecnologia (IIT),
in Genoa, Italy.
*Starting Date:* February/March 2015
*Deadline:* January 15, 2015
*Duration:* 6-8 months with potential follow up enrollment to continue for
*Title: *"3D Perception for Humanoid Robots: Rough terrain locomotion and
Free-form object manipulation".
*Tutors:* Dr. Dimitrios Kanoulas, Dr. Nikos Tsagarakis
The Humanoids and Human Centred Mechatronics Lab
the Department of Advanced Robotics in the Italian Institute of Technology
IIT (an English language Institute, placed in Genoa) is looking for a 6-8
months fully funded research intern to work on the WALK-MAN EU project
In particular the WALK-MAN project has the goal to develop a humanoid
robot which can operate outside the laboratory space in unstructured
environments and work spaces as a result of natural and man-made disasters.
Rapid advancements in actuation and control over the last few years
enabled articulated humanoid robots to both walk in uneven terrain and
perform dexterous manipulation using their hands. These capabilities are
usually gained without using 3D perception at all, by assuming that either
the environment is mostly known and well-structured, or the uncertainty can
be tolerated by low-level feedback control. In real world scenarios these
assumptions may not hold and perception is required. The problem of foot
placement in rough terrain for walking and grasping free-formed objects
using 3D perception remains one of the main challenges in robotics and is
the key aspect for completing locomotion and manipulation tasks in unknown
The aim of this research internship is to develop new environment
reconstruction techniques that enable humanoid robots to perform both legged
locomotion and manipulation tasks in unstructured environments using 3D
perception for foot and hand placement. The CMU Multisense-SL 3D sensor
will be used on a full size humanoid robot (WALK-MAN), where the acquired
dense 3D point cloud will require geometric simplifications for reasoning
the contact between the robot's foot/hand and an area in the environment.
Modeling these contact areas around and on the robot while using
Simultaneous Localization and Mapping (SLAM) techniques for creating and
keeping a spatial map of these with respect to the robot are going to be
developed, integrated with the planning and control system, and tested in
Details can be found under the WALK-MAN website: http://www.walk-man.eu or
*Contact:* For any further enquiries concerning the research internship,
please contact Dimitrios Kanoulas at dimitrios.kanoulas at iit.it.
To apply please send to Dimitrios Kanoulas (dimitrios.kanoulas at iit.it): 1) a
detailed CV, 2) the name and contact of a referee, and 3) a short paragraph
describing your research interests and background.
Ideal applicants should have strong C++ programming skills. A background in
Robotics/Perception is desirable, while knowledge of the Robot Operating
System (ROS) and the Point Cloud Library (PCL) is a big plus. The applicants
should be fluent in English and team players.
Dimitrios Kanoulas, Ph.D.
Dept of Advanced Robotics (ADVR)
Istituto Italiano di Tecnologia (IIT-Genova)
Via Morego 30,Genova 16163, Italy
e-mail: dimitrios.kanoulas at iit.it
url: iit.it/en/people/dimitrios-kanoulas.html /
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