[robotics-worldwide] [jobs] Fully-funded PhD position in robotic interactive manipulation tasks at LAAS-CNRS, France

Daniel Sidobre daniel.sidobre at laas.fr
Fri Mar 1 05:44:09 PST 2019

Dear colleague,

Funded PhD studentship available at LAAS-CNRS (Toulouse, France).

**Project title** Planning and control of interactive manipulation tasks 
with a robot

**Short description**

Even if robots are more and more present in our environment, the 
development of robots capable of interacting intuitively, naturally and 
safely with humans to exchange objects, perform tasks in contact or help 
people with disabilities in their daily tasks, is not yet a reality.
The building of models and tools allowing a robot to plan and then 
execute complex handling tasks appears necessary. Beyond the movement, 
these models must describe the task in order to control the dynamics of 
the object manipulated by the robot, i.e. the relationship that links 
masses, forces, gravity, stiffness, friction, position and their 
derivatives. The movement is no longer described by the position to be 
reached, but by a set of functions. This allows to define properties 
that these functions must verify to ensure the stability of the control. 
In this context, a planner can produce a precise description of the 
task. This description provides for the temporal evolution of the 
quantities to be controlled and monitored. The controller can then 
provide more accurate information on the progress of the task, allowing 
the planner to control the execution of the task and re-plan it if 
By better describing the behaviour of the human partner, this approach 
should also make it possible to better define and anticipate human 
action. The more accurate description of the prediction of human 
behaviour should also allow for more accurate and rapid detection of 
deviations between the prediction and the execution of a collaborative 
task, which gives hope for better attention to humans through continuous 
adjustments of the plan.
In this context, the objective of this thesis is to demonstrate the 
possibility of building robots based on time models. More precisely, the 
development of these models and then associated controllers, will be 
used to demonstrate the possibility of defining a reactive planner 
capable of adapting the plan according, firstly, to the feedback from 
the controllers and, secondly, to the evolution of the environment and 
in particular to the human interacting with the robot.

**More information**



**Who we are**

The Robotics and Interactions (RIS) team in the robotics department of 
LAAS-CNRS (Toulouse, France), one of the largest laboratories of CNRS, 
the flagship (and largest) Center of Scientific Research in France. 
LAAS-CNRS was founded in 1968 and it counts around 700 people, with more 
than 100 tenured researchers and as many university professors. Research 
at LAAS-CNRS spans robotics, optimization, control, telecommunications, 
and nano-systems. The robotics department at LAAS-CNRS counts more than 
100 people and — being founded at the end of the 70’s — it is supposedly 
one of the largest and oldest robotic research department in France. 
LAAS-CNRS robotics department has made world-class contributions in 
artificial intelligence, planning, perception, humanoids, and aerial 
robot design and control.

The funding is a 3 years academic scholarship of EDSYS doctoral school. 
The subject is also related to industrial, French and European research 
projects that the team is carrying out.

**How to apply**
To submit an application please send an email with a CV to 
daniel.sidobre at laas.fr before the deadline: April 30, 2019

Daniel Sidobre.
Daniel Sidobre
  Maître de conférences à l'Université Toulouse III - Paul Sabatier
  Chercheur au LAAS-CNRS https://urldefense.proofpoint.com/v2/url?u=http-3A__homepages.laas.fr_daniel&d=DwIDaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=ZZTuup3UTIWtfrHe3OdvyNGymzuFqpiXa-BBjq7v7l0&s=9UVmD_ePZjk8JRiNFv4qEltQ_wxS-XXQJjzDk4Ckxi0&e=

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