Currently, the following student projects are available. Please contact the responsible supervisor and apply with your CV and transcripts.
In case you have project ideas related to any of these projects, take the opportunity and propose your own project!
We also offer Master Thesis and or exchange semesters at reknown universities around the world. Please contact us in case of interest!
ETH Zurich uses SiROP to publish and search scientific projects. For more information visit sirop.org
Computational efficiency for kinematics and dynamics of rigid multi-body systems
Model-based controllers for robotic systems require the online computation of kinematic and dynamic quantities. This project assesses different approaches that are currently in use at our lab and implements a new method for calculating derivatives, based on auto-differentiation. Show details
Contact detection and handling with a force controllable manipulator
The goal of this project is the implementation of a contact estimation and control framework for a robot manipulator using only the force-feedback of the single joints. Show details
Locomotion Control for a Wheel-on-Leg Robot in Unstructured Terrain
Locomotion of wheeled robots is limited by extreme terrain. In contrast, legged robots have the potential to overcome this by adapting their gaits. This project combines the advantages of both systems by developing a novel wheel-on-leg robot. Show details
Automated Control Tuning Toolbox for Series-elastic Actuators
An automated tuning toolbox for a series-elastic actuator (electric motor, gearbox, spring in series) should be developed in this project. The drive enables position, torque and current control, which needs proper gain tuning for maximal control performance. Show details
Advanced Sensing & Control of 3-Phase PMSM Actuators
The objective of this project is to design an advanced sensing-plus-actuation system for Permanent Magnet Synchronous Motors (PMSM) which will optimize the performance of a Motor Torque Controller based on the Vector Control principle. Show details
System Identification of 3-Phase PMSM Actuators
The objective of this project is to develop algorithms which will enable the complete characterization of Actuators based on 3-phase Permanent Magnet Synchronous Motors (PMSMs). The algorithms are to provide accurate estimations of model parameters associated with the complete electromechanical dyna Show details
Advanced Control System for 6-Phase PMSM Actuators
The objective of this project is to design an advanced control strategy for the commutation and torque control of 6-phase Permanent Magnet Synchronous Motors (PMSM). Show details