Developing Highly Dynamic Motion Capabilities for Custom PEA (Parallel Elastic Actuator) - Control & Prototyping

Institut

Lehrstuhl für Angewandte Mechanik

Typ

Semesterarbeit / Masterarbeit /

Inhalt

experimentell / theoretisch /  

Beschreibung

Description

BLDC motors are growing in capabilities. They are an established choice for robotics solutions: from legged robots and
beyond - even electric vehicles. While this motor technology has reached a level of maturity, the way it's integrated
and the way its power is utilised can be quite different.
We are building on top of established robotics joints, such as the one used in the MIT Mini Cheetah [1], however, we
are fully customizing its design with our own electronics, novel hardware aspects through integration of elastic
elements and torque sensing.
We want to find a best way to exploit all novel actuator features in control. We have designed a first prototype and
want to work on control implementation and testing through an adaptation for a highly dynamic use-case (e.g. vertical
jumping or throwing).
Student work is planned to span prototyping for finalizing the test setup alongside robotics control concepts for
exploitation of system elasticities. Promising research direction is emulating VSA behaviour [2] through the interaction
of the mechanical spring and motor control.
We are looking for candidates with a strong interdisciplinary focus and interest in practical work, with an excellent
academic record.

What you will gain:
- Experience in Modeling and Control of Robotics
systems
- Experience building, prototyping
- Best design practices
- Insights into our System Development and access to
our community 

 

Requirements from candidates:

- Strong in Control Methods
- Any CAD software for the Part designs (such as
Solidworks, Fusion 360,etc.)
- Matlab skills
- Basic skills in Electronics
- Plus are:
- Understanding how Motors work
- Familiarity with GIT
- Working skills in Ubuntu operating system
- Embedded systems development

Möglicher Beginn

sofort

Kontakt

Tomas Slimak, M.Sc.
Raum: 3104
Tel.: +49 (89) 289 - 15226
tomas.slimaktum.de

Ausschreibung