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Reference : UMR5506-ABDKHE-002
Workplace : MONTPELLIER
Date of publication : Friday, November 29, 2019
Type of Contract : FTC Scientist
Contract Period : 36 months
Expected date of employment : 1 January 2020
Proportion of work : Full time
Remuneration : between 3500 - 3760€ or more, depending on competences (CNRS salary grid for Postdocs)
Desired level of education : PhD
Experience required : 1 to 4 years
Research and development
The selected candidate will be involved in the I-AM project, a four-year strategic European research project. The project focuses on developing a rigorous impact-aware robotic framework that integrates Modelling, Learning, Sensing and Controlling techniques.
For this vacancy, the selected candidate will focus on the development of dexterous methods for real-world impact scenarios with nonzero contact velocities on existing robotic platforms such as Kuka LWR, Panda robot from Franka Emika and the humanoid robot HRP-4.
A successful candidate has obtained an outstanding doctoral PhD degree in engineering related to Robotics or Computer Science, and has a background and interest to contribute to:
• Collecting data of impact scenarios
• Implementing algorithms for redundant dual-manipulator setups and humanoid robots, including dynamic contact transitions with velocity jumps and impact energy propagation
• Development of realistic impact models for various materials, that enable robots to predict the dynamic effect of collisions
• Focus on deformable objects to be grabbed as well as deformable end-effectors for shock-absorbing manipulation.
• Learning/Optimization of variable impedance/admittance and control gains from experimental data for impact scenarios, e.g. for anticipation of an impact
• Planning of intentional impacts with optimal reference trajectories and contact positions, taking the physical limitations of the robot and object into account
• Prioritized multi-objective control for robust and stable execution of dynamic motions with impacts, integrating also variable impedance/admittance strategies
• Testing and experimental validation in simulation, as well as with the real robots available in the lab
PhD in robotics or computer graphics physics engins, or non-smooth mechanics
Software development will be part of your core research. The following elements will be considered in the evaluation:
• experience with implementing planning, control or learning algorithms
• proficiency in object-oriented programming paradigms with C++, as well as matlab/python skills are a must
• experience with the MC_RTC Software Framework and Choreonoid dynamic simulation environment is a plus
The selected candidate is furthermore expected to:
• have a very good knowledge of English (spoken and written)
• be able to work independently, accurately and methodically
• be a team player in international teams
• collaborate with project partners in Europe
• present research findings at international conferences
• publish research findings in international journals
• Hands-on experience with robot platforms experience with redundant robotic systems such as dual-arm robots or humanoids are a plus
www.lirmm.fr / IDH team
Constraints and risks
I-AM EU H2020 project
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