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We are seeking a motivated student to join the Environmental Robotics Lab at MIRMI and contribute to cutting-edge projects in underwater manipulation. Research in underwater manipulation focuses on developing robotic systems capable of performing complex tasks in underwater environments. This involves creating autonomous underwater vehicles (AUVs) equipped with manipulators that can handle objects, conduct repairs, and collect samples. Key challenges include dealing with the dynamic nature of underwater environments, such as currents and low visibility, and ensuring precise control and stability of the manipulators]. Researchers are also working on advanced perception systems and machine learning algorithms to improve the autonomy and efficiency of these robots. The ultimate goal is to enable these systems to operate with minimal human intervention, enhancing their utility in areas like marine biology, underwater archaeology, and environmental monitoring.

Tasks:

• Grasping of known and unknown objects underwater
• Pick-and-place task
• Concept for underactuated underwater manipulation
• Implementation for Reach Alpha 5 manipulator in ROS
• Realistic evaluation in underwater robotics pool

Requirements:

• Knowledge in robotics and control theory
• Coding skills in C++ and/or Python
• Experience with ROS
• Hands-on experience with robots is a plus

What We Offer:

• Opportunity to work on innovative projects with real-world applications
• Access to state-of-the-art facilities and resources
• Collaborative and supportive research environment
• Flexible working hours to accommodate your academic schedule

How to Apply: Please send your CV, a brief cover letter including your prior experience and what you expect to learn, as well as any supporting documents to Moritz Graf (moritz.graf@tum.de). Applications will be reviewed on a rolling basis until the position is filled. The Technical University of Munich is an equal opportunity employer committed to excellence through diversity. We explicitly encourage women to apply, and preference will be given to disabled applicants with equivalent qualifications.

Background:

Shared autonomy refers to a collaborative control paradigm wherein both a human operator and an autonomous robotic system share the responsibility of executing a task [1]. This approach leverages the strengths of human intelligence—such as intuition, adaptability, and decision-making—alongside the precision, repeatability, and computational power of robots. Consequently, this system is capable of managing complex tasks while enhancing efficiency, safety, and usability.

In this study, we focus on addressing the industrial assembly task through teleoperation skills. However, due to low transparency of the system and human-interaction manner, tackling contact-rich manipulation tasks, particularly those involving tight-clearance manipulation, remains a significant challenge. To remedy this gap, we propose integrating the knowledge gained from robotic assembly tasks into teleoperation within a shared-autonomy framework.  

Your Tasks:

1. Understand our previous solution(code) for solving the shared autonomy teleoperation work [2] and tight-clearance industrial insertion tasks with for force domain wiggle motion [3,4].
2. Propose the autonomy allocation method in our application.
3. Integrate the force domain wiggle motion into our teleoperation system based on the shared autonomy under our guidance.
4. Make experiments to demonstrate the feasibility and superiority of this method.

Requirement:

• Highly self-motivated;
• Experiences or knowledge from related Robotics courses;
• C++ and python programming experience.

To apply:

Send your personal CV and transcript as attachment to both yansong.wu(at)tum.de and xiaoyu.chen(at)tum.de.
 

Job Description:

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