Duration : 6 months
Hosting laboratory : Defrost Team of Inria Université de Lille
Advisors : Quentin Peyron, Christian Duriez
Context
Robotic manipulators take a big place in our today lives in a sometimes hidden way. From robotics medical tools to industrial manipulators, they became powerful assets to perform tasks with increased performances, in terms of accuracy, repeatability and rapidity, providing better healthcare quality, goods productivity, etc. Historically, they have been designed to work separate from human and taylored to a specific task. The current societal, ethical and ecological context require them now to co-exist and collaborate with human, to be easily adaptable to different tasks and easily repairable or replacable at the end of their life.
The intern will be contributing to the development of this, needed, new generation of robot manipulators by joining the RPC-JaM project. The goal is to develop parallel soft and continuum robots [1] with modular legs, which are intrinsically flexible for safer physical interactions with humans and composed of a number of actuated limbs that can be detached, attached, rearranged according to the user’s need. One of the challenge with these deformable robots is the existence of localized buckling phenomena [2], called also singularities in robotics [3], which lead to sudden motions difficult to control. Being able to identify and analyze these phenomena with mechanical models, derived with techniques such as the finite element method or the Cosserat theory, are essential to their design and control.
Responsibilities
In this master internship, the applicant will be responsible for implementing buckling detection criteria on a reknown open-source simulation software for continuum robotics, the SOFA framework. These criteria will be tested on reference case studies of the literature and on the modular continuum parallel robot Emio of the startup Compliance Robotics. The work to arrive at this final objective can be structured as follows :
- State of the art of existing buckling criteria, in particular for FEM and Cosserat rod models.
- Training on- and appropriation of SOFA
- Formulation of the mathematical requirements for buckling identification and analysis
- Prototyping of criteria and comparison to state of the art buckling scenario
- Application to the criteria for characterizing the workspace of the Emio robot.
Following the outcomes and the compatibility between the applicant and supervisor, this internship can be continued with a fully funded PhD position.
Environment
The internship will take place in the Defrost Team of Inria, a dynamic, enjoyable, and multicultural team well reknown in the national robotics- and international soft robotics communities. The intern will also have frequent contacts and work with the Compliance Robotics startup, located next to the laboratory.
Requirements
- A strong interest in pushing robotics, and in general, technology, towards more human- and environment- friendly ends
- A strong background in mechanics and applied mathematics
- General knowledge in robotics. Knowledge in soft robotics are a plus
- Some experience with FEM models and simulations
- Python programming skills. C++ programming skills are a plus
- Familiarity with the Sofa framework is a plus
How to apply
To apply, send your resume and a cover letter by email to Quentin Peyron (quentin.peyron@inria.fr) and Christian Duriez (christian.duriez@inria.fr) with [Application: Development of buckling criteria for modular parallel continuum robots] as object of the e-mail. In addition to what is generally expected, the cover letter should highlight what you find particularly interesting in this topic, why current solutions are limited, as well as describe your overall vision for this project. Ideally, it should also elaborate on why you are interested in working in academic research.
All applications are welcome, regardless of age, gender, social or ethnic origin, sexual orientation, or disability. For the integration of people with disabilities, we are working on possible adaptations of the positions to be filled – within the limits of the applicable rules for the safety of people: do not hesitate to contact us to tell us about your situation.
References
[1] Lilge, S., Nuelle, K., Childs, J. A., Wen, K., Rucker, D. C., & Burgner-Kahrs, J. (2024). Parallel-continuum robots: a survey. IEEE Transactions on Robotics, 40, 3252-3270.
[2] Pal, A., Restrepo, V., Goswami, D., & Martinez, R. V. (2021). Exploiting mechanical instabilities in soft robotics: control, sensing, and actuation. Advanced Materials, 33(19), 2006939.
[3] Briot, S., & Goldsztejn, A. (2021). Singularity conditions for continuum parallel robots. IEEE Transactions on Robotics, 38(1), 507-525.