Details

Status: Available
Type(s): Master Thesis
Participants: 1 Student
Keywords: Robotics, Simulation, ROS, Gazebo

 

Task Description

This topic is part of a research project that focuses on allowing a robot (in this case a quadruped) to automatically explore its surroundings and scanning it with a Riegl Laser Scanner. Boston Dynamics does not publish their own first-party simulation software, thus we have to use 3rd-party simulations (Gazebo ROS or Nvidia Isaac Sim/Gym). Champ, a third-party robot control framework we use, does not support stair climbing. Your task would be to find/develop/improve a robot control framework to enable the simulated Spot to climb stairs.

Requirements

  • Knowledge of English language (whole project should be in english, source code documentation is in english as well)
  • Knowledge of C++/Python
  • Experience with ROS (Robot Operating System)
  • Knowledge of Reinforcement learning (RL) (optional)

Environment

C++ / Python, ROS (Robot Operating System)

Contact

For more information please contact Francesco De Pace.