[Forschungspraxis/Internship] Embedded software features development for custom BLDC motor driver

Institut
Munich Institute of Robotics and Machine Intelligence
Typ
Semesterarbeit /
Inhalt
experimentell / konstruktiv /  
Beschreibung

Application deadline: September 15, 2024

Brushless motors are growing in popularity for Robotics applications. They are particularly interesting due to their power density and availability. A good example of its abilities is MIT mini cheetah success with the Proprioceptive Actuator concept [1]. There, leveraging low gear ratio, back-drivability, high torque(power) density, they have been able to develop a powerful enough and stable actuator even for acrobatic maneuvers.

We are working on our own solutions for BLDC actuation. For that purpose, we have developed controllers that are the heart of all recent hardware developments [2] We are looking to enhance them and better integrate them within other projects.

For more detailed description please refer to attached PDF.

What you will gain:

  • Hands-on experience and in-depth understanding of IMU
  • Understanding Motor Control and various aspects of DC motors
  • Best practices for Embedded software development
  • Working with DataSheets and Documentations of various Devices
  • Hacking electronic signals (via oscilloscope, etc.)
  • Insights in our System Development and access to our community
Voraussetzungen

Requirements from candidates:

  • Knowledge of C
  • Basics of Microcontroller programming
  • Basics in Electronics and Mechanics
  • Proficiency in English C1, reading academic papers
  • Plus are: 
    • Arduino programming
    • Familiarity with GIT

We are welcoming initiative and always aiming to support new ideas. This internship is great opportunity to get familiar with our work and gain a lot of knowledge in hands-on Embedded system development.

 

To apply, you can send your CV, and short motivation to:

Supervisor

M.Sc. Vasilije Rakcevic

vasilije.rakcevictum.de

 

 

[1] P. M. Wensing, A. Wang, S. Seok, D. Otten, J. Lang and S. Kim, "Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots," in IEEE Transactions on Robotics, vol. 33, no. 3, pp. 509-522, June 2017, doi: 10.1109/TRO.2016.2640183.

[2] Fortunić, E. P., Yildirim, M. C., Ossadnik, D., Swikir, A., Abdolshah, S., & Haddadin, S. (2023). Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept. arXiv [Eess.SY]. Retrieved from http://arxiv.org/abs/2309.07873

Möglicher Beginn
sofort
Kontakt
Vasilije Rakcevic
Raum: CZS MECH 3
vasilije.rakcevictum.de
Ausschreibung