Developement of an NVIDIA Isaac Sim Simulation for the Humanoid Robot LOLA

Institut

Lehrstuhl für Angewandte Mechanik

Typ

Masterarbeit /

Inhalt

experimentell / theoretisch / konstruktiv /  

Beschreibung

To keep pace with the fast advances in humanoid robotics, it is necessary to rapidly prototype novel hardware and software solutions. Simulators that replicate the robot in its environment with high fidelity, while allowing quick hardware adaptation or testing of novel control and planning approaches, are an essential tool. In this thesis a simulation framework based on NVIDIA IsaacSim (https://developer.nvidia.com/isaac/sim) will be built in Python for our humanoid robot LOLA. It will be integrated into our current C++ software framework and compared with our current simulation as well as with experimental data. In the next step, a first optimization or machine learning based motion planning pipeline will be explored

Voraussetzungen

• High motivation and ability to work independently 
• Strong background in robotics. 
• Advanced experience working on software projects (Pyhton and C++). 
• Knowledge of optimization and machine learning is a plus. 

Möglicher Beginn

sofort

Kontakt

Arian Kist
Raum: MW3139
Tel.: +49 (89) 289 - 15215
arian.kisttum.de

Ausschreibung