Control of robotic arms for cooperative manipulations

  • Posted on: 12 April 2021
  • By: Lhachemi Hugo
  • Updated on: 8 June 2021
Type recrutement: 
61 (Génie informatique, automatique et traitement du signal)
Entité et lieu: 
L2S, CentraleSupélec

Title: Control of robotic arms for cooperative manipulations

Scientific description:

Robot manipulators are extensively used in a great variety of industrial contexts ranging from automated production lines to teleoperations. The accomplishment of complex tasks can require the cooperation of multiple robot manipulators in a highly constrained environment. From rendezvous problems to cooperative manipulation and transportation of a single object by several robot manipulators, robust Model Predictive Control (MPC) has emerged as the predominant technique to deal with constraints applying on both a single agent and the multi-agent system.

The aim of this post-doctoral position is twofold. The first objective addresses both modeling and control of a system of collaborative robotic arms. Centralized/decentralized/distributed MPC approaches will be investigated to ensure a high level of performance while guaranteeing safe object manipulations in a highly constrained environment (including, e.g., smooth maneuvers and obstacles avoidance). The second objective embraces the implementation and experimental validation of the developed control schemes on a system of two collaborative robotic arms.

Desired experience:

  • PhD. in control, preferably with major in the analysis and control of robotics systems;
  • Familiarity with the robotics suite Robot Operating Systems (ROS);
  • Strong scientific culture assessed by publications in leading international journals and conferences;
  • Familiarities and interest in intelligent autonomous systems would be appreciated.

General information : 1-year post-doctoral position starting from September 2021; Framework: L2S call for projects 2021

Application deadline : 1st June, 2021 (23:30 Paris local time)

Full description and application procedure:

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