PhD Position F/M Singularity Detection and Analysis in Modular Parallel Continuum Robots

Contexte et atouts du poste

Project context: 

The RPC-JaM project aims at advancing fundamentally the development of parallel continuum robots, a class of deformable robots obtained by assembling slender elastic legs in parallel. Their natural compliance enables them, to a certain degree, to adapt safely to their environment in case of contact, making them particularly interesting in tasks with sensitive environments such as medical interventions and cobotics. Despite all their advantages observed and demonstrated in the litterature, developing these robots comes with challenges such as the presence of singularities and elastic stability deficiency, models with high computation time, and a complex design. To solve these issues, we propose to follow an original approach where the robot is seen as the assembly of modular limbs, each one having its own sensors, actuators and processing units. The objective of this project is first of all to tackle ...