[robotics-worldwide] [jobs] Fully-funded PhD position in robotic interactive manipulation tasks at LAAS-CNRS, France
daniel.sidobre at laas.fr
Fri Mar 1 05:44:09 PST 2019
Funded PhD studentship available at LAAS-CNRS (Toulouse, France).
**Project title** Planning and control of interactive manipulation tasks
with a robot
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.
**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
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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