Research Internship in Dynamic Manipulation and Whole-Body Control for Humanoid Robots

Context and funding:
This position is funded by the euROBIN project.
Within this framework, the HUCEBOT team is developing multimodal strategies for online control and adaptation of dynamic legged robot platforms. This project explores data-driven methods for enabling humanoid robots to perform dynamic whole-body manipulation tasks that involve rapid and coordinated motion. Traditional manipulation approaches rely on quasi-static assumptions and preplanned trajectories, which limit performance in scenarios requiring fast responses and predictive control. This work aims to develop learning and control strategies that allow humanoids to stably interact with moving objects and execute agile manipulation behaviors in real time.

About the team:
The candidate will join the Human Centered Robotics team (HUCEBOT) in the Inria Center of the University of Lorraine in Nancy, France.
The team HUCEBOT develops control, learning, and interaction skills of human-centered robots, such as humanoid, mobile manipulators and exoskeletons. The team develops learning and control algorithms for teleoperated / supervised / autonomous robots, involved in complex manipulation tasks in man-made environments. It also develops AI-based control for wearable exoskeletons designed to assist humans at work, drones and quadrupeds to explore complex environments. The team has excellent robotics facilities, including several humanoid robots (Talos, iCub, G1), manipulators, drones, passive and active exoskeletons, wearable sensors, force plates etc. Its laboratory has a 3D printing facility and a mechatronic workshop for prototyping and maintenance, and a motion capture room with Qualisys and Xsens sensors.
The team consists of many research scientists, postdocs, PhD and has the support of 1 software and 1 mechatronics engineer. The team is international - English and French speaking. French is not required, although free French classes are available in the institute for non-French speakers.

About the laboratory and Nancy:
The Inria Center of the University of Lorraine, is co-located with the Loria laboratory, in the Science and Technology Campus of the University of Lorraine (Nancy, France), next to the Botanical Gardens, at 20 minutes by public transportation or bike from the Nancy train station and City Center. Several student residences and facilities are at walking distance. Nancy is a University town, with a high quality of life and a vibrant student, Erasmus and expat community. Life is Nancy is very affordable compared to Paris, it is easy to find a student residence or apartment. Team members can also access to SUAPS, the University’s sports facilities.

About Nancy in France:
Nancy is the capital of the Grand Est region in France. It is well connected by train to Paris (90 min), Strasbourg (90 min), Luxembourg and Germany. There are direct trains from Nancy to the Paris airport CDG and the Luxembourg airport LUX.
The region around Nancy is ideal for outdoor activities: there are many country trails, long bike trails, forests, mountains, lakes, ski in winter too.

This project explores data-driven methods for enabling humanoid robots to perform dynamic whole-body manipulation tasks that involve rapid and coordinated motion. Traditional manipulation approaches rely on quasi-static assumptions and preplanned trajectories, which limit performance in scenarios requiring fast responses and predictive control. This work aims to develop learning and control strategies that allow humanoids to stably interact with moving objects and execute agile manipulation behaviors in real time.

The internship is for a 4 to 6 months period and must terminate before mid-July.

The candidate will collaborate with Guillaume Bellegarda (researcher) and Serena Ivaldi (researcher). 

• Review state-of-the-art in loco-manipulation for legged robots. 
• Develop learning-based frameworks for perceptive and dynamic whole-body manipulation (simulation).
• Investigate predictive and feedback strategies for handling dynamic object interactions (simulation).
• Integrate cameras and vision for object tracking (hardware). 
• Deploy controllers in hardware experiements on the Unitree G1 (and possibly other platforms). 
• Analyze results and write report. 

• Technical skills:
• Background in robotics, control, machine learning. 
• Excellent skills and/or experience with simulation frameworks (i.e. Isaac, MuJoCo), reinforcement learning, and motion planning
• Excellent skills in Python, C++, ROS 
• Interest and preferably experience in manipulation and legged robots
• Soft skills:
• Excellent communication skills at work, and ability to report progress
• Not afraid of challenging projects.
• Rigour and intellectual honesty
• Curiosity and desire to learn
• Practical mindset and ability to develop robust and reliable solutions
• Autonomy and organizational skills
• Love working in a multi-cultural environment
• Team player

• Restauration subventionnée
• Transports publics remboursés partiellement
• Congés: 7 semaines de congés annuels + 10 jours de RTT (base temps plein) + possibilité d'autorisations d'absence exceptionnelle (ex : enfants malades, déménagement)
• Possibilité de télétravail (après 6 mois d'ancienneté) et aménagement du temps de travail
• Équipements professionnels à disposition (visioconférence, prêts de matériels informatiques, etc.)
• Prestations sociales, culturelles et sportives (Association de gestion des œuvres sociales d'Inria)
• Accès à la formation professionnelle
• Sécurité sociale

4.35 €/heure