[robotics-worldwide] [jobs] Post-Doc Position on Mechatronics at LAAS-CNRS, Toulouse, France

Olivier Stasse ostasse at laas.fr
Tue Oct 11 13:21:46 PDT 2016

Post-Doc Position on Mechatronics at LAAS-CNRS, Toulouse, France

Designing a prototype of a metastable passive walker.

Scientific goals: The subject is part of the ERC Actanthrope project led
by Jean-Paul Laumond in the Gepetto team at LAAS-CNRS. Actanthrope
promotes a neuro-robotics perspective to explore original models of
anthropomorphic action. The project targets contributions to humanoid
robot autonomy, to advanced human body simulation, and to a new theory
of embodied intelligence by promoting a motion based semiotics of the
human action.

In this frame, the goal of the post-doctoral position is to give an
experimental proof of concept on the importance of an actuated head and
trunk to passive walkers stabilization. In a previous work [1,2], we
have shown in simulation that a controlled head on a passive walker can
largely improve the stability (in the sense of Poincaré). This is true
even on uneven terrain. In a recent work [3], we propose a simulation
framework allowing optimizing the physical parameters of a robot
implementing the proposed control law. This was achieved thanks to a
codesign approach.

The next phase is to build the robot. For this we need a talented
roboticist able to drive the project from the start to the end of the
contract. She/he will be seconded by senior roboticists (including
Olivier Stasse and Nicolas Mansard) and engineers involved in mechanics
and software issues to achieve the goal. The candidate will be supported
by the facilities available at LAAS.

- Managing the project from the design to the final test of the prototype.
- Designing and developing the electromechanical part of the robot
- Implementing the low-level control on the robot
- Analysis of the in-field experimentation for fixing.

- PhD in mechatronics, electrical or mechanical engineering applied to
- Extensive experience with digital signal processing and embedded
system development
- Experience in designing electromechanical systems
- Experience with rapid prototyping  (e.g. 3D printing, laser cutting,
and machining)

The position is open for 12 months, which is the deadline for providing
the first prototype. An extension period will be considered in case of
Expected starting date is February 1st, 2017. Monthly gross salary is
fixed by CNRS from 2515€ to 3488€ according to the applicant experience.

How to apply:
Please email your resume and portfolio with relevant work samples to
Olivier Stasse <ostasse at laas.fr>.

[1] M. Benallegue, J.P. Laumond, “Metastability for High-Dimensional
Walking Systems on Stochastically Rough Terrain”, Robotics Science and
Systems (RSS), 2013.
[2] M. Benallegue, J.P. Laumond, “The Yoyo-Man”, International Symposium
on Robotics Research, 2015, https://urldefense.proofpoint.com/v2/url?u=https-3A__hal.archives-2Douvertes.fr_hal-2D01175591&d=DQIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=FdRUqjXTH99Nmz5WrBPyN3iU_PtEJtCi2eaGqg0NJZ4&s=qrSezoLdz6rUjAZWXhT7x2ixov-vFCUNiWgJeZRmQEo&e= 
[3] G. Saurel, J. Carpentier, J.P. Laumond, “A Simulation Framework for
Simultaneous Design and Control of Passive Walkers”, 2016,

Olivier Stasse, Gepetto TEAM,
CNRS Researcher / Directeur de Recherche au CNRS 2ème classe
7 Av. du Colonel Roche, 31077 Toulouse, 
Tel: +(33)-(0)561-337-982/ Fax: +(33)-(0)561-336-455 

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