Master Thesis on “Teleoperation and Assistive Systems”

12/08/2024

Supervisor: Prof. Ville Kyrki (ville.kyrki@aalto.fi)

Advisor: Shivam Chaubey (shivam.chaubey@aalto.fi), Dr. Francesco Verdoja (francesco.verdoja@aalto.fi)

Keywords: Optimal Control, Control System

Project Description

We are currently seeking a motivated and talented master’s student to join our Intelligent Robotics group at Aalto University. The selected student will work on developing a Teleoperation and Assistive system for robotic systems as part of their master’s thesis. This project aims to enhance the capability of robotic systems by enabling precise remote control and providing intelligent assistance to prevent failures, especially for novice users. The assistive system will be equipped with knowledge of optimal policies and constraints, allowing it to monitor and regulate the user’s intended behavior. If the user operates outside of the nominal parameters, the assistive system will intervene to either correct the action or halt the robotic platform, ensuring safety and reliability. This method has potential applications in various fields, such as medical robotics, industrial automation, and remote operation in hazardous environments.

This project offers an excellent opportunity to gain hands-on experience with robotic manipulators, real-time and optimal control.

Deliverables

  • Developing a real-time teleoperation algorithm.
  • Developing assistive systems to prevent failures and assist novice users.
  • Experimenting with real-world robotic setups with different users.

Practical Information

Pre-requisites: Optimal Control, Control Systems, Control Barrier Function, Lyapunov Function

Programming Skills: Python, MATLAB, ROS

Theoretical Background: Optimal Control, Reinforcement Learning, Control Systems

Start: Available immediately

References

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