Missions

Integrate developments from the European Agimus project (https://www.agimus-project.eu) into an industrial demonstrator for solar panel assembly in space using robotic arms.

Activités

- Development of manipulation movement planning algorithms,
- Integration of these algorithms into a decision-making architecture based on dynamic behavior trees.

Compétences

- Proficiency in C++ and Python,
- Robotics skills: theoretical concepts and software tools (ROS2).

Contexte de travail

As part of the European Agimus project and in collaboration with an industrial partner, our objective is to develop a demonstrator for solar panel assembly in space, consisting of two UR10 manipulator arms. The demonstrator is located on the industrial partner's premises. Part of the development will therefore be carried out using simulation in a Docker-like virtual environment. Validation will, however, be carried out on the partner's experimental facility.

The main software components are:

- the HPP manipulation motion planning platform (humanoid-path-planner.github.io/hpp-doc),
- an implementation of dynamic behavior trees.

Everything will be integrated into ROS2.

Le poste se situe dans un secteur relevant de la protection du potentiel scientifique et technique (PPST), et nécessite donc, conformément à la réglementation, que votre arrivée soit autorisée par l'autorité compétente du MESR.

Contraintes et risques

No specific constraints.