PhD position in Robotics: In-Hand Object Tracking with Haptic Feedback

The ability to robustly grasp and simultaneously manipulate objects in a human-like fashion remains one of the big challenges for robots working outside of traditional industrial cages. Human hands are far more advanced than robotic grippers in terms of mechanical design, but also haptic perception capabilities based on tactile and kinesthetic sensing, through skin and muscles respectively. In this project, you are expected to endow parallel state-of-the art robotic grippers with haptic perception capabilities for in-hand manipulation.

Information about the project
You will work in an exciting new project lying in the intersection of the areas of robotics, machine learning and automatic control, and specialize in haptic perception, state estimation and object tracking. To accomplish the objective, you will develop models learned from haptic sensor data that map the sensed forces to the expected changes of the location of the object with respect to the hand and the stiffness of the grasp. Haptic object state estimation is important for developing reactive planning and control strategies for in-hand object manipulation. The research conducted by the student aims at: a) proposing a learning-based haptic perception framework that also address uncertainty from external contacts, b) combining data-driven and physics-based models to address data-efficiency under uncertainty.

The PhD student project is funded by Wallenberg AI, Autonomous Systems and Software Program (WASP) which is Sweden's largest individual research program, and provides a platform for academic research and education, fostering interaction with Sweden's leading companies ( for more information visit http://wasp-sweden.org/ ).

The position is with the Mechatronics research group in the division of Systems and Control. The candidate will work under the supervision of senior researchers with background in robotics namely robot control, perception, manipulation and grasping, automatic control and optimization. There will also be opportunities for collaboration with other researches under the umbrella of WASP and WARA (https://wasp-sweden.org/research/research-arenas/wara-robotics/).

Major responsibilities
The PhD student will carry out original research and complete coursework, also in connection to WASP graduate school, throughout the period of appointment. Results will be communicated in the form of scientific articles, conference presentations, etc. and the PhD thesis.

The working time of a Ph.D. student is mainly devoted to research. Undergraduate teaching duties, not exceeding 20% of the working time, may include supervision of MSc and Bachelor students.

Contract terms
Full-time temporary employment. The position is limited to a maximum of five years.

Qualifications
Applicants should have a Master's degree (or Diploma) in Automation and Mechatronics or Electrical Engineering or Computer Science or Mechanical Engineering or Applied Math, or an equivalent or similar background. Basic knowledge about machine learning, control systems and robotics as well as experience in simulation of dynamical systems are required. Furthermore, the position requires sound verbal and written communication skills in English. High grades in relevant undergraduate courses, C/C++ and hardware implementation experience are advantageous.

We offer
Chalmers offers a cultivating and inspiring working environment in the coastal city of Gothenburg. 
Read more about working at Chalmers and our benefits for employees.

Chalmers aims to actively improve our gender balance. We work broadly with equality projects, for example the GENIE Initiative on gender equality for excellence. Equality and diversity are substantial foundations in all activities at Chalmers.

PLEASE READ MORE AND APPLY HERE.

Application deadline: 15 August, 2021

For questions, please contact:
Yiannis Karayiannidis, yiannis@chalmers.se

*** Chalmers declines to consider all offers of further announcement publishing or other types of support for the recruiting process in connection with this position. ***