Master Thesis Work for Whole Body Control for Mobile Manipulators

Placering
Västerås

Master Thesis Work for Whole Body Control for Mobile Manipulators
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This position reports to
R&D Team Lead

Your role and responsibilities
ABB Corporate Research Center in Sweden is located in Västerås, about 100 kilometers west of Stockholm. Together with our colleagues in other R&D centers we develop technologies for future products and services of ABB's core businesses. In the Robotics team we focus on robot concepts / design, autonomous and intelligent robot, and robot applications in both industrial and service robot segments. Whole-Body control is a method for optimal control of a system subjected to multiple smaller dimensional constraints and optimization criteria. It has risen in popularity in humanoid robots due to the large number of degrees of freedom. Many different constraints and tasks can be used for optimizing the controlled system, including collision avoidance, dynamic and static stability, kinematic and dynamic limits. In terms of task optimization, typically you try to minimize trajectory errors for one or more than one end-effectors. Research Topics: • Modelling of mobile manipulators with non-holonomic constraints • Formulating and solving the whole-body control problem with QP solvers • Implementing different constraints and tasks for optimization during whole-body motion Goal(s): • Thesis report to university (1 week in advance before submitting to university for ABB internal review) • Thesis report to ABB (could be the same as the one in the university, depending on IP) • Invention disclosure (potentially) • Software and prototypes Details: • 6 month • 30 credits • One student • Since lab work involved, the MS student need to come ABB office in Västerås from time to time • Contact for details: [email protected] Your responsibilities: • Literature study on whole-body control for mobile manipulation • Implement a whole-body controller in C++ (Python or Matlab could be used for prototyping) • Implement different tasks and constraints for kinematic and dynamic optimization • Build demonstrators on the mobile YuMi research platform

Qualifications for the role

• Enthusiasm, passion and good spirit
• Experience with programming in C++
• Experience in Control and Optimization Theory
• Experience with ROS and/or ROS 2 is advantageous
• Some knowledge in robotics

More about us
Recruiting Manager LiWei Qi, +46 730 21 23 09, will answer your questions. Positions are filled continuously. Apply with your CV, academic transcripts and a cover letter in English via ABB career page. We value people from different backgrounds. Could this be your story? Apply today or visit www.abb.com to read more about us and learn about the impact of our solutions across the globe. #MyABBStory #On-site

Locations
Västerås, Sweden