Analysis and Optimization of Humanoid Robot Oscillations during Walking

Institute

Lehrstuhl für Angewandte Mechanik

Type

Bachelor's Thesis / Semester Thesis / Master's Thesis /

Content

experimental / theoretical / constructive /  

Description

Topic:

Building on recent work that characterised LOLA’s vibration behaviour, evaluated embedded IMUs for distributed sensing, and introduced initial structural damping measures, this thesis advances both the mechanical design and the dynamic understanding of LOLA’s vibration sources.

A core objective is the optimisation of the tuned mass dampers installed on the robot. Their current performance is limited by internal friction and local nonlinearities. You will analyse these effects experimentally, identify their mechanical origins, and redesign key damper elements to minimise parasitic friction so that the dampers interact with the targeted modes as intended.

The thesis then investigates how existing structural components can be repurposed or mounted differently to contribute to passive vibration dissipation. This involves studying how joints, panels, coverings, and internal assemblies influence energy flow through the structure and exploring design adjustments that improve damping behaviour without adding new mass or complexity.

Finally, by combining operational and experimental modal analyses, you will determine to what extent LOLA’s vibrations originate from actuator excitation, ground contact dynamics, or structural coupling. This will provide a clearer picture of the dominant excitation paths and support decisions on whether mechanical modifications, control adjustments, or a combination of both offer the most effective route to vibration reduction.

As with all my theses, the proposed topic is just a starting point. It is flexible and can be adjusted to what interests you and what direction the research leads. The expectations regarding results, prerequisites and work-ethic will be modulated based on whether a MA/SA or BA is written.

This topic ties into active research that I aim to publish. Depending on the strength of your thesis contributions, you may be invited to join as a co-author.

 

Application:

Please send all previous transcripts of records and your full CV to tomas.slimak@tum.de with the subject Application MA/SA/BA "name of thesis". Write a few sentences about what motivates you to apply for this thesis and why you would fit the topic. Please be specific in citing the experience/expertise that you have which would be relevant to this topic.

 

After submitting your application, it will be reviewed and if you are deemed suitable for the topic, you will be invited for an interview. Please be aware that part of this interview will be an oral evaluation of your background and understanding of concepts relevant to the thesis. The more preparation, creativity and initiative you are able to show, the better. It should be noted that given the iteresting but very advanced nature of this topic, only correspondingly strong students will be selected.

 

If you are interested in multiple theses that I am offering, do not send multiple applications, just name all the titles in a single mail. Applications and theses can be submitted in English or German as well.

 

 

Possible start

sofort

Contact

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

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