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Portail > Offres > Offre UMR5506-ABDKHE-012 - H/F Postdoc en commande de robots pour des tâches d'impacts

H/F Postdoc in impact-aware robotics

This offer is available in the following languages:
Français - Anglais

Date Limite Candidature : mardi 28 février 2023

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General information

Reference : UMR5506-ABDKHE-012
Nombre de Postes : 1
Date of publication : Friday, December 16, 2022
Type of Contract : FTC Scientist
Contract Period : 10 months
Expected date of employment : 1 March 2023
Proportion of work : Full time
Remuneration : 2 739.24 € - 3 869.89 € depending on experience
Desired level of education : PhD
Experience required : 1 to 4 years


- Research and development in the framework of the EC H2020 I-AM project https://i-am-project.eu/
- Follow-up of engineering or master trainees and a PhD students.


The main objective of this postdoc is to plan and control robots to perform impact tasks, i.e. tasks that require making contact with non-zero relative velocities. Examples of these tasks are dynamic bipedal robotic walking, hammering, catching objects in flight and throwing objects at a specific location. To accomplish this, the following will be considered:
- confrontation of academic impact models with robotic experimental data ;
- development of impact propagation model in a robotic structure;
- influence of an impact on pre-existing unilateral contacts and influence on the equilibrium in multi-contacts;
- Predictive models of post-impact velocities and impact pulses suitable for real-time control;
- Realization of robotic demonstrators in impact scenarios;
- Writing of scientific papers in English;
- Writing of deliverables of the CE I-AM project;
- Collaborate with the I-AM consortium partners.


- Skills in non-smooth mechanics (modeling of contacts and impacts with friction between rigid and deformable poly-articulated bodies);
- Skills in robotics (kinematic and dynamic models) ;
- Skills in task-space control by QP optimization with constraints, otherwise knowledge in numerical optimization;
- Instrumentation, impact data collection and processing;
- Programming in C++ / Python
- Proficiency in machine learning techniques is a plus.

Work Context

The host laboratory is the LIRMM, the candidate will be assigned to the IDH team, his work will be directed by A. Kheddar in the framework of the EC H2020 I-AM project.
The team has a humanoid robot HRP-4, 3 Franka-Emika Panda robots and other small equipment.

Constraints and risks


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