Project

A model-based learning control for context switching of robotic tasks

Publisher

Supervisor

Location

Greater Copenhagen area

So far, a spiking cerebellar modular network has been embedded in a closed-loop control system for controlling a robot by learning its inverse or forward internal models. The student will have to define a method for combining both inverse and forward modules in order to implement a composite architecture. Then he/she will have to study how to learn multiple inverse and forward models for different manipulated objects by a robot, how to retain the learning and switch between the models. As a result of this a gaiting network will be implemented and trained to generate a weighted prediction of the multiple inverse and forward models, in order to determine the locally responsible models. Finally, the student will have to design two processes for switching between the models, based on feedforward and feedback outcome. Test and validation phases with a simulated robot will be run in the Neuro-robotics platform developed within the European Human Brain Project. Read the pdf attached for having a better idea of the field as well as papers from our group. For more information, send an email for appointment. 

Requirements

Knowledge in Robotics, Control theory, Programming in Python and/or C, Neural Networks, Machine Learning, Ros

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Contact

Company / Organization

DTU Elektro

Name

Silvia Tolu

Position

Adjunkt

Mail

stolu@elektro.dtu.dk

Supervisor info

MSc in Computer Science and Engineering

Supervisor

Silvia Tolu

Type

MSc thesis, Special course

MSc in Electrical Engineering

Supervisor

Silvia Tolu

Type

MSc thesis, Special course

MSc in Mathematical Modelling and Computation

Supervisor

Silvia Tolu

Type

MSc thesis, Special course

Technical University of Denmark

For almost two centuries DTU, Technical University of Denmark, has been dedicated to fulfilling the vision of H.C. Ørsted – the father of electromagnetism – who founded the university in 1829 to develop and create value using the natural sciences and the technical sciences to benefit society.


Today, DTU is ranked as one of the foremost technical universities in Europe, continues to set new records in the number of publications, and persistently increases and develops our partnerships with industry, and assignments accomplished by DTU’s public sector consultancy.

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Denmark



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