[robotics-worldwide] [jobs] PostDoc Opening at LIRMM Montpellier: Design of a whole-body humanoid state observer to detect undesired contacts

Andrea Cherubini andrea.cherubini at lirmm.fr
Wed Feb 26 09:24:04 PST 2014

Laboratory: LIRMM (CNRS/University Montpellier 2), Montpellier, France
Department: Robotics Department
Duration: 24 months (starting as soon as possible).
Topic: Design of a whole-body humanoid state observer to detect undesired contacts   

In the frame of the ROMEO 2 French national project lead by ALDEBARAN, the topic of this postdoctoral position is to model and program a haptic observer returning the localization and magnitude of external contacts on the humanoid’s body. This will be done through fusion of the information from sensors embedded on the robot (including tactile sensing when available). Such a haptic observer will first be developed based on classical available sensors, that are: force sensors at the ankles and hands’ wrists, accelerometers, gyro, inclinometers, desired postures (desired joints), IMU and motor torques’ estimation. Eventually, an extended haptic observer will also be developed to integrate tactile and force sensing if available, on parts of the humanoid robots. One of the distinguishing issues we would like to deal with is the integration of RGBD vision as part of the haptic observer. Change in vision viewpoint, flow, may provide a lot of information on contact. Needless to say that in some configurations, vision can also assess the localization of a non-desired or desired contact. The resulting robust whole-body haptic sensing observer will ideally return: the number of contacts, their localization on each link, the external wrench per link, distributed pressure per contact and force estimation (include tangential one) per link. The proposed observer must meet robustness and real-time performances to be used in closed-loop control for tasks such as: multi-contact stabilization, visio-haptic motion control and multi-contact planning.

Candidates with background in estimation/identification, observers design in control theory, signal processing are preferred. Further details can be obtained during the interview.

These researches and developments must be demonstrated in challenging domestic environments and human assistance scenarios involving Aldebaran’s ROMEO and Kawada’s HRP-4 humanoid robots.

Locations: the postdoc will be conducted at the CNRS-UM2 LIRMM at Montpellier, France. The LIRMM Robotics Department is organized in 5 project-teams, covering research in automatics, signal and image processing, and mechanical design. Specifically, the ROMEO 2 project is carried out by the IDH (Interactive Digital Humans) team, along with various other cutting-edge French research laboratories, and with industrial partner Aldebaran. Montpellier (population 265000), located in southern France, is the capital of the Languedoc-Roussillon region, as well as the fastest growing city in France over the past 25 years. The city is situated on hilly ground only 10 kilometers inland from the Mediterranean coast. The monthly mean temperature ranges from 7.1 °C in January to 23.4 °C in July.

Interested candidates shall send a detailed CV with a short motivation letter to the following advisory team:

Andrea Cherubini cherubini at lirmm.fr
André Crosnier  crosnier at lirmm.fr
Abderrahmane Kheddar  kheddar at gmail.com

Andrea Cherubini
Associate Professor
LIRMM / Université de Montpellier 2

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