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法国Inria国家信息与自动化研究所课题组招博士后 软体机器人方向
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?????????https://team.inria.fr/defrost/ topic??robust control of soft manipulator ???????????https://jobs.inria.fr/public/classic/en/offres/2020-02432 Requirement: PhD. in robotics or automatic control, defended less than 2 years, with good publication records. ??нGross monthly salary (before taxes) : 2653 ? ???????????Zheng Gang / Gang.Zheng@inria.fr??????????????????????????????????? About the research centre or Inria department The Inria Lille - Nord Europe Research Centre was founded in 2008 and employs a staff of 360, including 300 scientists working in sixteen research teams. Recognised for its outstanding contribution to the socio-economic development of the Hauts-De-France r??gion, the Inria Lille - Nord Europe Research Centre undertakes research in the field of computer science in collaboration with a range of academic, institutional and industrial partners. The strategy of the Centre is to develop an internationally renowned centre of excellence with a significant impact on the City of Lille and its surrounding area. It works to achieve this by pursuing a range of ambitious research projects in such fields of computer science as the intelligence of data and adaptive software systems. Building on the synergies between research and industry, Inria is a major contributor to skills and technology transfer in the field of computer science. Context Our Vision : Future robots don??t need to be «rigid» but made of complex deformable structures, composed of stiff and soft regions, close to organic materials that we can find in the nature. Soft robotics opens very attractive perspectives in terms of new applications, reduction of manufacturing costs, robustness, efficiency and security. It could constitute a great jump in robotics in the following years. The challenge : The biggest obstacle to make this possible is that the current methods to design and control don??t work for deformable ones and new approaches have to be invented. To overcome this obstacle we work on a novel approach that integrates a real-time model of both the robot deformations and its interaction into the control loop of the soft robots. This is where the challenge begins?? https://team.inria.fr/defrost/ Assignment Soft-robotics are compliant to human and they are rightly able to adjust their shapes and flexibilities to suit the task and the environment. Thus, it opens new perspectives in different applications. Due to their compliance, they can access to fragile parts of an environment by applying minimal pressure. However, since soft robot has infinite degree of freedom, the control of such a soft robot is quite challenging. The job of the candidate is to develop algorithm to achieve robust control of soft manipulator under external disturbance. Main activities Depending on the different application scenarios, the task space of the soft manipulator is normally disturbed. Those disturbances might have different physical meanings: ranging from deterministic (such as the change of mass, additional external load and so on) to stochastic (Gaussian noise, Ito type of noise and so on). It is therefore necessary to take those different types of disturbance into account when designing robust control for the soft manipulator to realize the required task. Consequently, this proposal focuses on the robust control of soft manipulator with disturbance. The work plan is listed as follows: Familiar with Cosserat/Beam theory; Deduce the model of soft manipulator and valid it via the simulation (SOFA/Matlab) Analyze different types of external disturbances (deterministic or stochastic) Investigate different types of estimators/controllers to control the soft manipulator under those disturbances Validations of the proposed algorithms. Skills The Post-doc candidate must have a PhD. (or equivalent) in Automatic Control and/or Computer Science or a related field and a solid background in control of systems. Fluency in English (writing / speaking) is mandatory. Strong publication record is a plus. |
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2楼2020-04-09 09:43:55
