MASTER THESIS IN COLLABORATION WITH Italian Institute of Technology (IIT): Implementation of a Decision Maker for Locomotion (internship)
Tesi esterna in azienda
Riferimenti GIOVANNI GERARDO MUSCOLO
Riferimenti esterni Eng. Claudio Semini (Istituto Italiano di Tecnologia)
Descrizione The aim of this student project is to increase the level of autonomy of our locomotion framework. An effective locomotion framework encompasses different levels of autonomy. At a lower level we have several locomotion strategies (e.g. different gaits) that take care of keeping the stability while dealing with the terrain features but require high level commands (e.g. desired velocities from the user). On the other hand, at a higher level, the focus is on improving autonomy, by orchestrating the locomotion modules to fulfill higher level user requirements. These algorithms should take care of choosing the most suitable locomotion strategy and adapting the gait parameters (according to the terrain difficulty) in order to ensure task accomplishment (e.g. reach a goal, pick up an object).
Scadenza validita proposta 23/06/2020 PROPONI LA TUA CANDIDATURA